State-estimator-based robust vibration control of crane bridge system with trolley via PDE model

The main focus of this paper is to cope with the vibration and stabilization problem of crane bridge control systems. For the concern of improving control accuracy, a PDE model is put forward without neglecting the modal information of the system. Besides, dynamic properties of the trolley and transferred payload of the crane are taken into account in the modeling, which accords with the request of application in the practice. Considering the immeasurability of velocity, a speed-estimator-based robust control (SERC) is developed to achieve vibration suppression of the PDE crane bridge with time-varying disturbances. By giving detailed stability analysis as well as numerical simulations, the proposed control strategy is proven to be effective and limits the vibration of the crane bridge within required regions.