6533b873fe1ef96bd12d55e0

RESEARCH PRODUCT

Estimation of Sway-angle Based on Hybrid State Observer Using Continuous and Discrete Sensing

subject

description

A hybrid state observer design is presented herein to estimate sway-angle and angular velocity in trolley systems with pendulum. In general, anti-sway control for trolley systems with pendulum such as overhead cranes are designed based on sway-angle signals detected by angular sensors. Opposed to that, a state observer without those sensors is proposed to estimate the sway-angle of the pendulum. A standard linear continuous feedback observer causes estimation error owing to the system nonlinearity and modeling error. This paper proposes a hybrid state observer incorporating discrete sensor signals. In the hybrid state observer, the estimation performance is improved by correcting the state of the system based on discrete signals. The effectiveness of the hybrid state observer is verified by conducting experiments using a downscaled testbed of a trolley system with pendulum.