Collaborative Antiswing Hoisting Control for Dual Rotary Cranes With Motion Constraints

Liu, Zhuoqing; Yu, Fashan; Sun, Ning; Yang, Tong; Fang, Yongchun

doi:10.1109/tii.2021.3137343

Cited by 9 publications

(3 citation statements)

References 30 publications

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“…The controller's feedback gains are chosen through Lyapunov stability analysis so as to ensure global stability for the control loop. In [41] an adaptive PID-type controller is developed for dual rotary cranes. The selection of the controller's gains is performed through the system's Lyapunov analysis.…”

Section: State-of-the-art In the Control Of Underactuated Robotic Cranesmentioning

confidence: 99%

Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

Rigatos

Abbaszadeh

Pomares

2022

Auton. Intell. Syst.

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Tower cranes find wide use in construction works, in ports and in several loading and unloading procedures met in industry. A nonlinear optimal control approach is proposed for the dynamic model of the 4-DOF underactuated tower crane. The dynamic model of the robotic crane undergoes approximate linearization around a temporary operating point that is recomputed at each time-step of the control method. The linearization relies on Taylor series expansion and on the associated Jacobian matrices. For the linearized state-space model of the system a stabilizing optimal (H-infinity) feedback controller is designed. To compute the controller’s feedback gains an algebraic Riccati equation is repetitively solved at each iteration of the control algorithm. The stability properties of the control method are proven through Lyapunov analysis. The proposed control approach is advantageous because: (i) unlike the popular computed torque method for robotic manipulators, the new control approach is characterized by optimality and is also applicable when the number of control inputs is not equal to the robot’s number of DOFs, (ii) it achieves fast and accurate tracking of reference setpoints under minimal energy consumption by the robot’s actuators, (iii) unlike the popular Nonlinear Model Predictive Control method, the article’s nonlinear optimal control scheme is of proven global stability and convergence to the optimum.

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Section: State-of-the-art In the Control Of Underactuated Robotic Cranesmentioning

confidence: 99%

Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

Rigatos

Abbaszadeh

Pomares

2022

Auton. Intell. Syst.

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“…Many exogenous human behaviors lead to road injury and death. Common factors include speeding, drunk driving, fatigued driving, distracted driving, and not wearing a seat belt [1][2][3][4]. Speeding, drunk driving, wearing seatbelts, and distracted driving are all spontaneous and illegal in some regions and countries.…”

Section: Introductionmentioning

confidence: 99%

Fatigue and distraction warning system for autonomous vehicle drivers in the process of three-level autonomous driving

Sun

2024

ACE

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Driver fatigue and distraction is the mainest cause of indirect driving accident;with the development of automatic driving technology, self-driving car is more applications; in the process of level 3 automatic driving driver if fatigue and distraction,in time of emergency, can lead to take over not accident in time. Therefore, some researchers have designed a detection and warning system for driver fatigue and distraction in three-level autonomous driving to promote the taking-over process and thus avoid accidents. To better analyze the feasibility and disadvantages of this system, this paper reviews the designs of several current researchers. This paper first examines the System design ideas, design process , and design results in the studied literature, through the literature system design, system evaluation through the comparison of multiple literature system designs, and then combined with the above analysis process. The results of the study show that, In the studied literature,after making a take-over request (TOR) to the driver, the driver is given a tactile, auditory ,and visual multimodal warning; after the system design, the subjects were given feedback according to the people-centered idea, but there are also false alarms and failure to wake up drivers who are too deeply distracted. The multimodal warning system to wake up the tertiary fatigue and distraction in the process of automatic driving, can wake up the driver and promote the takeover process.However, there are detection errors and alarm subsequent insurance measures loopholes, still need subsequent in-depth research and improvement.

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“…Underactuated mechanical systems, which own fewer control variables than degrees of freedom to be controlled, are extensively used in various industrial fields. [1][2][3][4][5][6][7][8][9][10][11] The overhead crane system, as a typical underactuated mechanical system, has been widely used in railway transportation, iron and steel chemical industry, port and other places, the main work of which is driving the cargo quickly and safely to its destination. Similar to other underactuated mechanical systems, the fact that the cargo can be only indirectly controlled by the motion of the trolley brings a great difficulty for the crane control.…”

Section: Introductionmentioning

confidence: 99%

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Li,

Wu,

Zhao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel disturbance observer and a Lyapunov-based control approach are developed for the crane control. For existing works, the assumption on the disturbances is strong and the motivation of these methods is to reject disturbances by feedback control. To tackle these problems, this paper proposes a novel composite control strategy consisting of a nonlinear control method and a finite time disturbance observer. Specifically, first, based on the system dynamic equations, a disturbance estimator is put forward, which can exactly identify the unknown disturbances in finite time. Next, an elaborate Lyapunov function is constructed and a disturbance-compensation-based control approach is presented for the overhead crane system with double-pendulum dynamics. Then, rigorous theoretical analysis is given to prove that all of the states of the closed-loop system asymptotically converge to the origin. At last, simulation tests are included to verify the effectiveness and robustness of the proposed method.

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Collaborative Antiswing Hoisting Control for Dual Rotary Cranes With Motion Constraints

Cited by 9 publications

References 30 publications

Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

Fatigue and distraction warning system for autonomous vehicle drivers in the process of three-level autonomous driving

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

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