Abstract
In this paper we report a design method for controlling a travelling crane mounted on a flexible structure. In order to control the position of the crane cart, the sway of the crane rope and the vibration of the flexible structure, a robust servosystem is designed using the normalized coprime factor H∞ robust stabilization approach. We consider varying the lenght of the crane rope in positioning control and schedule the H∞ compensator in accordance with varying the natural frequency of the crane rope. By numerical calculation the settling performance of the gain-scheduled H∞ compensator is compared with that of a switching H∞ compensator. We verify the efficiency of the gain-scheduled H∞ compensator.
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