Show simple item record

dc.contributor.authorAno, Shuta
dc.contributor.authorSeki, Kenta
dc.contributor.authorRuderman, Michael
dc.contributor.authorIwasaki, Makoto
dc.date.accessioned2023-09-28T09:50:19Z
dc.date.available2023-09-28T09:50:19Z
dc.date.created2020-09-17T18:46:26Z
dc.date.issued2020
dc.identifier.citationAno, S., Seki, K., Ruderman, M., & Iwasaki, M. (2021). Estimating Sway Angle of Pendulum System Using Hybrid State Observer Incorporating Continuous and Discrete Sensing Signals. IEEJ Journal of Industry Applications, 10(1), 69-75.en_US
dc.identifier.issn2187-1108
dc.identifier.urihttps://hdl.handle.net/11250/3092648
dc.description.abstractThis paper presents the design of a hybrid state observer that estimates the sway angle in trolley systems with a pendulum, such as overhead cranes. In the system, sway angle signals detected by angular sensors are generally used for designing the anti-sway control of the pendulum or observing the pendulum state. By contrast, in this study, a linear state observer without sensors is applied to estimate the sway angle of the pendulum. The use of a standard asymptotic state observer leads to estimation error due to the system's nonlinearities and parametric errors. This paper proposes using a hybrid state observer design that combines discrete event sensing with a linear state observer. In the hybrid state observer, the estimation performance is improved by correcting the state of the system based on the discrete sway angle and angular velocity using discrete sensing. In addition, the parametric error of the pendulum length of the system is identified using the same hybrid setting. The effectiveness of the hybrid state observer and the parametric adaptation of the pendulum length are verified by conducting experiments using a downscaled prototype of a trolley system with a pendulum.en_US
dc.language.isoengen_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleEstimating Sway Angle of Pendulum System Using Hybrid State Observer Incorporating Continuous and Discrete Sensing Signalsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.rights.holder© 2021 The Institute of Electrical Engineers of Japanen_US
dc.subject.nsiVDP::Teknologi: 500en_US
dc.source.pagenumber69-75en_US
dc.source.volume10en_US
dc.source.journalIEEJ Journal of Industry Applicationsen_US
dc.source.issue1en_US
dc.identifier.doihttps://doi.org/10.1541/ieejjia.20004820
dc.identifier.cristin1830990
dc.description.localcodePaid open accessen_US
cristin.qualitycode1


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal