An Enhanced Coupling Nonlinear Tracking Controller for Underactuated 3D Overhead Crane Systems

Abstract

An enhanced coupling nonlinear tracking control method for an underactuated 3D overhead crane systems is set forth in the present paper. The proposed tracking controller guarantees a smooth start for the trolley and solves the problem of the payload swing angle amplitude increasing as the transferring distance gets longer for the regulation control methods. Different from existing tracking control methods, the presented control approach has an improved transient performance. More specifically, by taking the operation experience, mathematical analysis of the overhead crane system, physical constraints, and operational efficiency into consideration, we first select two desired trajectories for the trolley. Then, a new storage function is constructed by the introduction of two new composite signals, which increases the coupling behaviour between the trolley movement and payload swing. Next, a novel tracking control strategy is designed according to the derivation form of the aforementioned storage function. Lyapunov techniques and Barbalat's Lemma are used to demonstrate the stability of the closed‐loop system without any approximation manipulations to the original nonlinear dynamics. Finally, some simulation and experiments are used to demonstrate the superior transient performance and strong robustness with respect to different cable lengths, payload masses, destinations, and external disturbances of the enhanced coupling nonlinear tracking control scheme.

Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

“…Then, from equations (9), (10), (74)-(76), and (78), we can obtain Similarly, from equation 79, it is clear that lim t!' u 3 (t), u 4 (t), _ u 3 (t), _ u 4 (t), € u 3 (t), € u 4 (t) Â Ã T = 0, 0, 0, 0, 0, 0…”

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

“…Without loss of generality, the following assumption, which was used in many crane‐related studies, is reasonable. The rope and the rigging can be seen as massless rigid links, and their flexibility and torsion can be neglected. For cranes working in practice, the hook is always beneath the boom, and the load is always beneath the hook; hence, the hook sway angles and the load sway angles always satisfy …”

“…The content of this part will be explained in detail in the following section. Without loss of generality, the following assumption, which was used in many crane-related studies, [31][32][33][34][35][47][48][49][50][51][52][53][54][55][56][57][58][59] is reasonable.…”

“…This kind of load sway will not only reduce the work efficiency but also cause accident and injury. 1 To solve this problem, many scholars have done a lot of researches and put forward many effective methods including input shaping method, 2-6 optimal control, 7-11 model predictive control, 12,13 adaptive control, [14][15][16][17] sliding mode control, [18][19][20][21] Lyapunov-based control, [22][23][24][25][26][27][28][29][30][31][32][33][34][35] robust control, 36,37 and so on. However, when the load shape is irregular or the mass of the hook cannot be neglected, the sway will present a more complex double-pendulum load sway phenomenon, which makes it difficult for traditional control methods to obtain satisfactory control performance.…”

Novel Adaptive Hierarchical Sliding Mode Control for Trajectory Tracking and Load Sway Rejection in Double-Pendulum Overhead Cranes

“…Until now, various control approaches have been presented for crane systems including input shaping method [2]- [10], trajectory generation method [11]- [15], tow-degree-of-freedom control approach [16]- [19], gain scheduling control [20], [21], sliding mode control [22]- [24], adaptive control [35]- [42], model predictive control methods [37]- [40], Lyapunov-based control approach [41]- [43], Fuzzy-based controller [44] and so on.…”