Independent motion control of a tower crane through wireless sensor and actuator networks

Fotis N Koumboulis; Nikolaos D Kouvakas; George L Giannaris; Demosthenes Vouyioukas

doi:10.1016/j.isatra.2015.11.011

Independent motion control of a tower crane through wireless sensor and actuator networks

ISA Trans. 2016 Jan:60:312-320. doi: 10.1016/j.isatra.2015.11.011. Epub 2015 Dec 3.

Authors

Fotis N Koumboulis¹, Nikolaos D Kouvakas², George L Giannaris³, Demosthenes Vouyioukas⁴

Affiliations

¹ Sterea Ellada Institute of Technology, Department of Automation Engineering, Psahna Evias 34400 Greece. Electronic address: koumbouls@teiste.gr.
² Sterea Ellada Institute of Technology, Department of Automation Engineering, Psahna Evias 34400 Greece.
³ Sterea Ellada Institute of Technology, Department of Automation Engineering, Psahna Evias 34400 Greece; University of the Aegean, Department of Information & Communication Systems Engineering, 83200 Karlovasi, Samos, Greece.
⁴ University of the Aegean, Department of Information & Communication Systems Engineering, 83200 Karlovasi, Samos, Greece.

PMID: 26654725
DOI: 10.1016/j.isatra.2015.11.011

Abstract

The problem of independent control of the performance variables of a tower crane through a wireless sensor and actuator network is investigated. The complete nonlinear mathematical model of the tower crane is developed. Based on appropriate data driven norms an accurate linear approximant of the system, including an upper bound of the communication delays, is derived. Using this linear approximant, a dynamic measurable output multi delay controller for independent control of the performance outputs of the system is proposed. The controller performs satisfactory despite the nonlinearities of the model and the communication delays of the wireless network.

Keywords: Dynamic multi-delay controllers; I/O decoupling; Time delay; Tower crane; Wireless network.