SInusoidal Polynomial Feedforward Control Input for High-Speed Starting Control with Damping to Reduce Residual Vibration and Its Application to Crane System

Abstract

This paper presents a design method to derive a closed-form control input expressed by a series of sinusoidal polynomial, namely a linear combination of sine functions each with a different frequency content, for any given control specification. Vibration system which is a crane system described by a pendulum model are discussed. In this paper, the several control specifications are given such as the robustness for parameter variations, the minimization of maximum swing angle, and so on. The proposed closed-form control input is given in a simple form of polynomial functions, and unknown parameters in a closed-form of solution can be calculated using the both of Genetic algorithm and analytical formula. Experimental results well agrees with simulation results, and then theoretical and simulation analysis discussed in this paper are validated.