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Final Project

This document provides instructions for a final project in ENPM 667 due on December 20. It involves modeling and controlling a crane system with two suspended loads. The first component involves obtaining the nonlinear and linearized equations of motion, checking controllability, designing an LQR controller, and simulating the linear and nonlinear systems. The second component involves checking observability for different output vectors, designing Luenberger observers, and using LQG output feedback control to track a reference and reject disturbances for the nonlinear system. Students have the option to work in groups of two and must submit a technical report and all code.

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oussama sadki
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120 views2 pages

Final Project

This document provides instructions for a final project in ENPM 667 due on December 20. It involves modeling and controlling a crane system with two suspended loads. The first component involves obtaining the nonlinear and linearized equations of motion, checking controllability, designing an LQR controller, and simulating the linear and nonlinear systems. The second component involves checking observability for different output vectors, designing Luenberger observers, and using LQG output feedback control to track a reference and reject disturbances for the nonlinear system. Students have the option to work in groups of two and must submit a technical report and all code.

Uploaded by

oussama sadki
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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ENPM 667 Final Project

University of Maryland, College Park

Due Date: Dec 20 in ELMS

INSTRUCTIONS

• Please include all relevant calculations, simulation plots, simulation schemes, and algorithms as part
of your solutions. Please submit your solution in a pdf file. Also, provide all your code for the grader
to test.

• This project is worth 20% of the course grade.

• Two students are allowed (not required) to work as a group on this project. If you decide to work as a
group please submit one technical report with both of your names clearly written at the top.

First Component (100 points): Consider a crane that moves along an one-dimensional track. It behaves
as a frictionless cart with mass M actuated by an external force F that constitutes the input of the system.
There are two loads suspended from cables attached to the crane. The loads have mass m1 and m2 , and
the lengths of the cables are l1 and l2 , respectively. The following figure depicts the crane and associated
variables used throughout this project.

A) (25 points) Obtain the equations of motion for the system and the corresponding nonlinear state-space
representation.

B) (25 points) Obtain the linearized system around the equilibrium point specified by x = 0 and θ1 =
θ2 = 0. Write the state-space representation of the linearized system.

C) (25 points) Obtain conditions on M, m1 , m2 , l1 , l2 for which the linearized system is controllable.

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D) (25 points) Choose M = 1000Kg, m1 = m2 = 100Kg, l1 = 20m and l2 = 10m. Check that
the system is controllable and obtain an LQR controller. Simulate the resulting response to initial
conditions when the controller is applied to the linearized system and also to the original nonlinear
system. Adjust the parameters of the LQR cost until you obtain a suitable response. Use Lyapunov’s
indirect method to certify stability (locally or globally) of the closed-loop system.

Second Component (100 points): Consider the parameters selected in C) above.

E) Suppose that you can select the following output vectors: x(t), (θ1 (t), θ2 (t)), (x(t), θ2 (t)) or (x(t), θ1 (t), θ2 (t)).
Determine for which output vectors the linearized system is observable.

F) Obtain your "best" Luenberger observer for each one of the output vectors for which the system is
observable and simulate its response to initial conditions and unit step input. The simulation should
be done for the observer applied to both the linearized system and the original nonlinear system.

G) Design an output feedback controller for your choice of the "smallest" output vector. Use the LQG
method and apply the resulting output feedback controller to the original nonlinear system. Obtain
your best design and illustrate its performance in simulation. How would you reconfigure your con-
troller to asymptotically track a constant reference on x ? Will your design reject constant force
disturbances applied on the cart ?

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