A Minimum-Time Motion Online Planning Method for Underactuated Overhead Crane Systems

Li, Fan; Zhang, Chenghui; Sun, Bo

doi:10.1109/access.2019.2912460

Cited by 19 publications

(12 citation statements)

References 26 publications

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“…These will be represented in the theorems described below. In the overall double-pendulum gantry crane control system as shown in Figure 4 Remark 1: The friction model (8) is used as the feed forward assembly to compensate for friction between the trolley and the tracks. For the sake of conciseness, we will focus on the development of the resultant force ( ) F t , because we can get the actuated force ( ) a F t directly from (7).…”

Section: Controller Designmentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

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Section: Controller Designmentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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“…One of the more widely utilized methods is the input shaping technique [6], which is an effective open-loop control method for swing reduction and crane system positioning. Many other open-loop strategies were also proposed for crane control [7,8]. However, the base assumption in open-loop methods is that the system information must be known, meaning that their control performance can be easily influenced by nonlinearity, initial conditions, and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

H_∞ Output-Feedback Anti-Swing Control for a Nonlinear Overhead Crane System With Disturbances Based on T-S Fuzzy Model

Xia²,

Wang

2021

IEEE Access

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In this paper, the output-feedback controller for a nonlinear overhead crane system with external disturbances was developed. Firstly, the Takagi-Sugeno fuzzy model was used to represent the overhead crane system nonlinearity. A fuzzy-based state observer was then built to estimate the values of immeasurable variables. Secondly, a novel control design called virtual-desired variable synthesis was used to converting the tracking control into a stabilization problem. It was primarily used to define the internal desired states, making the design procedure clear and easy. The performance criterion was used to attenuate external disturbances, and the closed-loop model stability was investigated using the quadratic Lyapunov function. Finally, three simulations were conducted to verify the feasibility and effectiveness of the proposed method. The results have shown that there is practically no positioning error and residual payload swing. Thus, in theory, any type of bounded external disturbances can be eliminated using the proposed method. Additionally, the convergence time is half of its model predictive control method counterpart and one-third of the standard controller. Hence, it provides a reference for actual control of the overhead crane systems, mostly due to its good performance.INDEX TERMS Overhead crane, Output feedback, T-S fuzzy model, Virtual-desired variable synthesis.

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“…In recent years, researchers have made some noticeable progress in controlling bridge cranes. An in-depth analysis of their dynamics has been conducted and a reasonable motion trajectory for their trolley while considering the load swing angle is planned [6][7][8]. Ouyang et al proposed an s-shaped motion trajectory generation method that could realize anti-sway [6].…”

Section: Introductionmentioning

confidence: 99%

“…Jaafar et al proposed a feedforward command shaping method of anti-sway for a bridge crane system [9], which requires fewer sensors than some existing methods. These methods [6][7][8][9] are all open-loop control-based ones and fail to deal with external disturbance. Some closed-loop feedback control methods have been proposed to deal with external disturbance to such a system [10].…”

Section: Introductionmentioning

confidence: 99%

A Performance-Driven MPC Algorithm for Underactuated Bridge Cranes

Bao

Kang

et al. 2021

Machines

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A crane system often works in a complex environment. It is difficult to model or learn its true dynamics by traditional system identification approaches. If a dynamics model is created by minimizing its prediction error, its use tends to introduce inaccuracies and thus lead to suboptimal performance. Is it possible to learn the dynamics model of a crane that can achieve the best performance, instead of learning its true dynamics? This work answers the question by presenting a performance-driven model predictive control (P-MPC) algorithm for a two-dimensional underactuated bridge crane. In the proposed dual-layer control architecture, an inner-loop controller uses a proportional–integral–derivative controller to achieve anti-sway rapidly. An outer-loop controller uses MPC to ensure accurate trolley positioning under control constraints. Compared with classical MPC, this work proposes a data-driven method for plant modeling and controller parameter updating. By considering the control target at the learning stage, the method can avoid adjusting the controller to deal with uncertainty. We use Bayesian optimization in an active learning framework where a locally linear dynamics model is learned with the intent of maximizing control performance and then used in conjunction with optimal control schemes to efficiently design a controller for a given task. The model is updated directly based on the performance observed in experiments on the physical system in an iterative manner till a desired performance is achieved. The controller parameters and prediction models of the best closed-loop performance can be found through continuous experiments and iterative optimization. Simulation and experiment results show that we can explicitly find the dynamics model that produces the best performance for an actual system, and the method can quickly suppress swing and realize accurate trolley positioning. The results verified its effectiveness, feasibility, and superior performance on comparing it with state-of-the-art methods.

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A Minimum-Time Motion Online Planning Method for Underactuated Overhead Crane Systems

Cited by 19 publications

References 26 publications

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

H_∞ Output-Feedback Anti-Swing Control for a Nonlinear Overhead Crane System With Disturbances Based on T-S Fuzzy Model

A Performance-Driven MPC Algorithm for Underactuated Bridge Cranes

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A Minimum-Time Motion Online Planning Method for Underactuated Overhead Crane Systems

Cited by 19 publications

References 26 publications

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

H∞ Output-Feedback Anti-Swing Control for a Nonlinear Overhead Crane System With Disturbances Based on T-S Fuzzy Model

A Performance-Driven MPC Algorithm for Underactuated Bridge Cranes

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H_∞ Output-Feedback Anti-Swing Control for a Nonlinear Overhead Crane System With Disturbances Based on T-S Fuzzy Model