Observer-based Control Design for Overhead Crane Systems

This paper proposes an observer-based control design with Disturbance Feedback Control (DFC) for overhead crane systems. DFC is a technique to improve the disturbance rejection capabilities of existing control loops. The crane system is modelled with 3D dynamics and linearized. Payload sway angles are estimated by a Kalman Filter. A state feedback controller for setpoint tracking and a DFC for disturbance rejection are designed using Linear Matrix Inequalities. Both simulation and experimental results show that the observer-based control with DFC can estimate the sway angle and is able to attenuate disturbance inputs better than the conventional observer-based control. The proposed design can thus achieve practical angle sensor-less control with a retro-fit modification of an existing control.</p