Linear Quadratic Gaussian (LQG) for stability control of single payload overhead crane system

S. Prabaningtyas, Mardlijah*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Crane is a tool used to transport heavy payload or hazardous materials from one place to another in an industry. Crane movement is susceptible to excessive swing angle of payload, which can affect positioning accuracy, quality, effectiveness, and safety of operations. Problems in crane systems involve the ability to reduce swing angle of payload and move it to the desired position fastly. In this paper, an LQG control design is implemented on a single payload overhead crane system to control trolley position and swing angle. The simulation results show that LQR produces system response better than LQG for swing angle amplitude. Although the simulation results show the performance of LQR better than LQG but in implementation, LQG is wider and cheaper than LQR because it can be applied to systems with only a few state measurements so that it can reduce the needed for measurement sensors that must be installed on the system, in contrast to LQR which must need full state measurements. To get full state measurement requires many sensors because each state must be installed with a measurement sensor so that the cost will be more expensive and also constrained by the limitations of some real systems that not all states are possible to measure. The system disturbance represents the amount of wind energy that affects the overhead crane system when operates. The selection value of system disturbance 10-3 causes LQG to give satisfactory results, where the selection of value is based on the condition that the overhead crane system generally operates indoors so that the amount of wind energy that affects the system is small.

Original languageEnglish
Title of host publication7th International Conference on Mathematics - Pure, Applied and Computation
Subtitle of host publicationMathematics of Quantum Computing
EditorsMuhammad Syifa�ul Mufid, Dieky Adzkiya
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735442917
DOIs
Publication statusPublished - 19 Dec 2022
Event7th International Conference on Mathematics: Pure, Applied and Computation: , ICoMPAC 2021 - Surabaya, Indonesia
Duration: 2 Oct 2021 → …

Publication series

NameAIP Conference Proceedings
Volume2641
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference7th International Conference on Mathematics: Pure, Applied and Computation: , ICoMPAC 2021
Country/TerritoryIndonesia
CitySurabaya
Period2/10/21 → …

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