Independent motion control of a tower crane through wireless sensor and actuator networks

The problem of independent control of the performance variables of a tower crane through a wireless sensor and actuator network is investigated. The complete nonlinear mathematical model of the tower crane is developed. Based on appropriate data driven norms an accurate linear approximant of the sys...

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Bibliographic Details
Published in:ISA transactions 2016-01, Vol.60, p.312-320
Main Authors: Koumboulis, Fotis N., Kouvakas, Nikolaos D., Giannaris, George L., Vouyioukas, Demosthenes
Format: Article
Language:English
Subjects:
Controllers
Delay
Dynamic multi-delay controllers
Dynamical systems
I/O decoupling
Mathematical models
Networks
Nonlinear dynamics
Nonlinearity
Time delay
Tower crane
Tower cranes
Wireless network
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Summary:The problem of independent control of the performance variables of a tower crane through a wireless sensor and actuator network is investigated. The complete nonlinear mathematical model of the tower crane is developed. Based on appropriate data driven norms an accurate linear approximant of the system, including an upper bound of the communication delays, is derived. Using this linear approximant, a dynamic measurable output multi delay controller for independent control of the performance outputs of the system is proposed. The controller performs satisfactory despite the nonlinearities of the model and the communication delays of the wireless network. •A complete nonlinear dynamic model of a tower crane is developed.•Towards wireless network control a signal synchronization scheme is proposed.•The scheme reconstructs the signals and makes constant the communication delays.•I/O decoupling of the crane variables, via a wireless controller, is proposed.•To solve I/O decoupling a realizable multi-delay dynamic controller is designed.
ISSN:0019-0578
1879-2022
DOI:10.1016/j.isatra.2015.11.011