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Robust Control of Residual Motion of Cable Transporter Systems

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Date

2003

Authors

Pota, Hemanshu R.
Agrawal, Sunil K.
Zhang, Yuhong
Petersen, Ian R.

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Abstract

This paper reports the modelling and robust control of cable connected linear transporter systems. An infinite-dimensional model of the time-delay transporter system is truncated to obtain finite-dimensional model for controller design. A minimax LQG controller is designed for multiplicative nonparameteric uncertainties. The minimax controller design involves solution of two simultaneous Riccati equation. The controller is implemented on a laboratory cable connected linear transporter system. The experimental results show a reduction of 9dB in the fundamental resonant peak.

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Keywords

Cable suspended systems, High-rise elevators, Residual motion suppression

Citation

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https://hdl.handle.net/1885/733812469

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ANU Research Publications

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Proceedings of the American Control Conference

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Conference paper

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Publication

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