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항만효율향상을 위한 컨테이너 크레인의 강인한 제어기 설계
소명옥(Myung-Ok So),이영재(Young-Jae Lee),장하룡(Ha-Ryong Jang),유희한(Hei-Han Rhyu),오세준(Sae-June Oh),류길수(Keel-Soo Rhyu) 한국마린엔지니어링학회 2006 한국마린엔지니어링학회 학술대회 논문집 Vol.2006 No.-
In this paper we present an interpolation-LQ control technique which tunes continuously the gain of controller by interpolating the gain(Lagrangian interpolation method) of sub-LQ controllers. The proposed controller design technique is applied to the container crane system for simulations. Several cases of simulations are carried out in order to prove the control effectiveness and robustness. The simulation results of proposed controller are compared with those of LQ controller. The results showed better control performance than those of LQ controller.