2017
DOI: 10.1002/asjc.1683
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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 op… Show more

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Cited by 28 publications
(24 citation statements)
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“…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…”
mentioning
confidence: 89%
“…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…”
mentioning
confidence: 89%
“…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 π2<θ1,θ2,θ3,θ4<π2. …”
Section: Rotary Crane Modeling and Control Objectivementioning
confidence: 99%
“…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.…”
Section: Rotary Crane Modelingmentioning
confidence: 99%
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“…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.…”
Section: Introductionmentioning
confidence: 99%