Reference-input modification for finite-time settling control of rotational pendulum along vibration manipulation function

Abstract

In this study, we manipulated translational and rotational overhead crane in experiment and simulation under open-loop finite-time setting control (oFTS control) or closed-loop finite-time setting control (cFTS control) using the rotational vibration manipulation function (rVMF). rVMF, which is a finite-time settling function for 1DOF undamped oscillator, was used as a reference input for each sequential piecewise operation. It was difficult to perform oFTS control in the experimental apparatus, because the damping coefficient of them were too large to be ignored. On the other hand, since we can hardly perform rest-to-rest motion of the rotational overhead crane under cFTS control by modifying the reference signal along sampled data from the apparatus at each operational instant, it showed certain robustness. However, there exists some disturbances, such as damping effect, centrifugal force, and static and dynamic friction and so on, it was difficult to perform the intended control.