Anti-Swinging Input Shaping Control of an Automatic Construction Crane

Garrido, Santiago; Abderrahim, Mohamed; Giménez, Antonio; Diez, R.; Balaguer, Carlos

doi:10.1109/tase.2007.909631

Cited by 153 publications

(51 citation statements)

References 13 publications

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“…Motion trajectories obtained are optimal in terms of some preferred objectives, such as the steady-state error or transportation time [17,23], while satisfying practical and physical constraints. Input shaping is a command generation method that aims to limit residual swing [8]. The swing induced by the first part of the command is canceled by the swing induced by the following part of the command.…”

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confidence: 99%

Model predictive control for improving operational efficiency of overhead cranes

2014

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Model predictive control (MPC) has been successfully applied to many transportation systems. For the control of overhead cranes, existing MPC approaches mainly focus on improving the regulation performance, such as tracking error or steady-state error. In this paper, energy efficiency as well as safety is newly considered in our proposed MPC approach. Based on the system model designed, the MPC approach is applied to minimize an objective function that is formulated as the integration of energy consumption and swing angle. In our approach, promising results in terms of low energy consumption and small swing angle can be found, whilst the solutions obtained can satisfy all practical constraints. Our test results indicate that the MPC approach can ensure stability and robustness of improving energy efficiency and safety.

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confidence: 99%

Model predictive control for improving operational efficiency of overhead cranes

2014

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“…Specifically, Sun et al [10,11] present antiswing controllers to regulate the cargo position to the desired location asymptotically in the presence of ship roll and heave movements for offshore crane systems applied in modern ocean transportation and logistics. Moreover, existing methods also include input shaping [12][13][14][15], feedback control [16][17][18][19][20][21][22][23][24][25][26][27][28], intelligent control [29][30][31][32], and trajectory planning method [33][34][35][36]. Specifically, several input shapers are designed to reduce payload swing of bridge crane systems [12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Robust Control of Crane with Perturbations

Wu¹,

Chen²,

Yang³

2018

Adaptive Robust Control Systems

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In the presence of persistent perturbations in both unactuated and actuated dynamics of crane systems, an observer-based robust control method is proposed, which achieves the objective of trolley positioning and cargo swing suppression. By dealing with the unactuated and unknown perturbation as an augmented state variable, the system dynamics are transformed into a quasi-chain-of-integrators form based on which a reduced-order augmented-state observer is established to recover the perturbations appearing in the unactuated dynamics. A novel sliding manifold is constructed to improve the robust performance of the control system, and a linear control law is presented to make the state variables stay on the manifold in the presence of perturbations in unactuated dynamics. A Lyapunov function candidate is constructed, and the entire closed-loop system is proved rigorously to be exponentially stable at the equilibrium point. The effectiveness and robustness of the proposed observer-based robust controller are verified by numerical simulation results.

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“…Anti-sway control of a gantry crane, modeled as a double pendulum, was also accomplished using Speci ed Insensitivity (SI) input shaping method in [20]. Garrido et al controlled the swinging of a crane by input shaping, where the disturbances were obtained using two cableslope measuring sensors and cancelled by applying a speci c input at a speci c time [21]. The marine cranes su er from swinging problem, particularly in the presence of sea disturbances.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

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Anti-Swinging Input Shaping Control of an Automatic Construction Crane

Cited by 153 publications

References 13 publications

Model predictive control for improving operational efficiency of overhead cranes

Model predictive control for improving operational efficiency of overhead cranes

Robust Control of Crane with Perturbations

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

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