This paper introduces a non-time-based control scheme for active position and vibration control of two-degree-of-freedom systems by applying it to the path-tracking and swing control of a system composed of a trolley and a simple pendulum. The basic idea behind such a scheme is to make the path reference of the trolley a function of the time and of a time delay. This latter, which is affected by the measured oscillation, is calculated on-the-fly in order to reduce the swing phenomenon. The effectiveness of the proposed control scheme, which may have application to the control of overhead cranes, is proved experimentally.
Synthesis and Experimental Validation of a Delayed Reference Controller for Active Vibration Suppression in Mechanical Systems
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Gallina, P., and Trevisani, A. (November 22, 2004). "Synthesis and Experimental Validation of a Delayed Reference Controller for Active Vibration Suppression in Mechanical Systems." ASME. J. Appl. Mech. July 2005; 72(4): 623–627. https://doi.org/10.1115/1.1940663
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