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      Portable Gantry Crane Payload Angle Limitation Control with the Presence of Trolley Position Vibration using Optimal Control

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            Abstract

            In this paper, a portable gantry crane is designed and controlled with the presence of trolley vibration disturbance using robust control technique. In the open loop system, the payload angle is not stable in both the impulse and step input force signals. Comparison of the system with H 2 and μ - synthesis controllers have been done for a step and impulse input force signal and a promising results have been analyzed.

            Content

            Author and article information

            Journal
            ScienceOpen Preprints
            ScienceOpen
            15 September 2020
            Affiliations
            [1 ] School of Electrical and Computer Engineering
            Article
            10.14293/S2199-1006.1.SOR-.PPR2TL7.v1
            4a05f114-8abd-4dd6-8dc3-fe1a93696a0a

            This work has been published open access under Creative Commons Attribution License CC BY 4.0 , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Conditions, terms of use and publishing policy can be found at www.scienceopen.com .


            All data generated or analysed during this study are included in this published article (and its supplementary information files).
            Engineering
            Portable gantry crane, H 2 synthesis controller, Mu - synthesis controller

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