Robust qLPV Tracking Fault-Tolerant Control of a 3 DOF Mechanical Crane

• Main Authors: Francisco-Ronay López-Estrada, Oscar Santos-Estudillo, Guillermo Valencia-Palomo, Samuel Gómez-Peñate, Carlos Hernandez-Gutiérrez
• Format: Article
• Language: English
• Published: MDPI AG 2020-07-01
• Series: Mathematical and Computational Applications
• Subjects: 3 DOF crane; convex systems; fault-tolerant control; robust control; qLPV systems; Takagi–Sugeno systems
• Online Access: https://www.mdpi.com/2297-8747/25/3/48

The main aim of this paper is to propose a robust fault-tolerant control for a three degree of freedom (DOF) mechanical crane by using a convex quasi-Linear Parameter Varying (qLPV) approach for modeling the crane and a passive fault-tolerant scheme. The control objective is to minimize the load oscillations while the desired path is tracked. The convex qLPV model is obtained by considering the nonlinear sector approach, which can represent exactly the nonlinear system under the bounded nonlinear terms. To improve the system safety, tolerance to partial actuator faults is considered. Performance requirements of the tracking control system are specified in an <inline-formula><math display="inline"><semantics><msub><mi mathvariant="script">H</mi><mi>∞</mi></msub></semantics></math></inline-formula> criteria that guarantees robustness against measurement noise, and partial faults. As a result, a set of Linear Matrix Inequalities is derived to compute the controller gains. Numerical experiments on a realistic 3 DOF crane model confirm the applicability of the control scheme.