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dc.contributor.authorBak, Morten Kollerup
dc.contributor.authorHansen, Michael R.
dc.contributor.authorKarimi, Hamid Reza
dc.date.accessioned2012-02-07T13:18:14Z
dc.date.available2012-02-07T13:18:14Z
dc.date.issued2011
dc.identifier.citationBak, M. K., Hansen, M. R., & Karimi, H. R. (2011). Robust tool point control for offshore knuckle boom crane Proceedings of the 18th IFAC World Congress 2011 (pp. 4594-4599): Elsevier.no_NO
dc.identifier.isbn978-3-902661-93-7
dc.identifier.urihttp://hdl.handle.net/11250/136847
dc.descriptionAuthor's version of a chapter in the book: Proceedings of the 18th IFAC World Congress 2011. Also available from the publisher at: http://dx.doi.org/10.3182/20110828-6-IT-1002.03004no_NO
dc.description.abstractThis paper considers the design of an H∞ controller for tool point control of a hydraulically actuated knuckle boom crane. The paper describes the modelling of the crane's mechanical and hydraulic systems and a disturbance model. These are linearised and combined in a state-space model used for the controller design. The controller synthesis problem is to design (if possible) an admissible controller that solves the problem of robust regulation against step inputs with an H∞ constraint based on the internal model principle. Simulation results are given to show the effectiveness of the method.no_NO
dc.language.isoengno_NO
dc.publisherElsevierno_NO
dc.subjectmulti-input/multi-output systems, state feedback, robust controlno_NO
dc.titleRobust tool point control for offshore knuckle boom craneno_NO
dc.typeChapterno_NO
dc.typePeer reviewedno_NO
dc.subject.nsiVDP::Mathematics and natural science: 400::Mathematics: 410::Applied mathematics: 413no_NO
dc.subject.nsiVDP::Technology: 500::Mechanical engineering: 570no_NO


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