title: Independent motion control of a tower crane through wireless sensor and actuator networks.
abstract: The problem of independent control of the performance variables of a tower crane through a wireless sensor and actuator network is investigated. The complete nonlinear mathematical model of the tower crane is developed. Based on appropriate data driven norms an accurate linear approximant of the system, including an upper bound of the communication delays, is derived. Using this linear approximant, a dynamic measurable output multi delay controller for independent control of the performance outputs of the system is proposed. The controller performs satisfactory despite the nonlinearities of the model and the communication delays of the wireless network.
authors.affiliation: Sterea Ellada Institute of Technology, Department of Automation Engineering, Psahna Evias 34400 Greece. Electronic address: koumbouls@teiste.gr.
authors.forename: Fotis N
authors.initials: FN
authors.lastname: Koumboulis
authors.affiliation: Sterea Ellada Institute of Technology, Department of Automation Engineering, Psahna Evias 34400 Greece.
authors.forename: Nikolaos D
authors.initials: ND
authors.lastname: Kouvakas
authors.affiliation: Sterea Ellada Institute of Technology, Department of Automation Engineering, Psahna Evias 34400 Greece; University of the Aegean, Department of Information & Communication Systems Engineering, 83200 Karlovasi, Samos, Greece.
authors.forename: George L
authors.initials: GL
authors.lastname: Giannaris
authors.affiliation: University of the Aegean, Department of Information & Communication Systems Engineering, 83200 Karlovasi, Samos, Greece.
authors.forename: Demosthenes
authors.initials: D
authors.lastname: Vouyioukas
keywords: Dynamic multi-delay controllers; I/O decoupling; Time delay; Tower crane; Wireless network