NEARLY FREE- END TIME OPTIMAL CONTROL BASED ON OUTPUT FEEDBACK AND MAXIMUM PRINCIPLE FOR THE SINGLE-PENDULUM CRANE SYSTEM

Abstract

This paper aims to introduce a new approach to design a controller to ensure the
single-pendulum system (2D overhead crane) to be stable at the desired position
based on output feedback information and maximum principle. Due to the necessity
of the information of system’s swing angle which is inaccessible, an observer is
developed to reconstruct the important value. The estimation from the observer and
the information about the trolley’s positions are utilized to implement the output
feedback controller. In this paper, the controller is constructed based on Maximum
principle, to ensure the stability of the system within a fixed-time interval and the
minimal cost function of time being. Therefore, the high-frequency phenomenon is
eliminated, and the amplitude of input signal also be reduced significantly. Thereby,
the lifetime of the actuated system and the closed system’s durability can be
enhanced. The advantages of the prosed control method are validated through
various case studies and scenarios of simulation.