Eventos Anais de eventos
DINAME 2023
XIX International Symposium on Dynamic Problems of Mechanics
Gain-Scheduled H2 Controller for Trajectory Tracking of a Cart-Pendulum
Submission Author:
Juan Camino , SP , Brazil
Co-Authors:
Enzo Gimenez Raffa Gonçalves, Juan Camino
Presenter: Enzo Gimenez Raffa Gonçalves
doi://10.26678/ABCM.DINAME2023.DIN2023-0156
Abstract
This paper presents the design of a gain scheduling controller based on the H2 performance for trajectory tracking of a cart-pendulum system. The nonlinear dynamics of the cart-pendulum is used to model an overhead crane system. The gain scheduling technique allows to design a controller for a nonlinear system based on a set of linearized subproblems. For each operating condition, a local controller is designed using the H2 control problem, which are activated according to a scheduling variable. Appropriated weighting functions are used in the H2 design to minimize the tracking error and the control effort. Numerical results shows the benefits of the proposed approach.
Keywords
gain scheduling, H2 Control, Trajectory Tracking, cart-pendulum, overhead crane
