Consistency of Control Performance in 3D Overhead Cranes under Payload Mass Uncertainty

Hoang, Uyen Tu Thi; Le, Hai Xuan; Thai, Nguyen Huu; Phạm, Hưng; Nguyen, Linh

doi:10.3390/electronics9040657

Cited by 12 publications

(12 citation statements)

References 28 publications

(34 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To address the concern, sliding mode control (SMC) method has then been favoured for those systems [8][9][10][11][12][13][14][15][16]. For instance, the authors in [17][18][19] proposed the robust SMC controllers for a gantry crane, which allow the system with uncertain parameters and nonlinear actuators to robustly work under external disturbances in a working environment. It is noted that challenge in designing a robust SMC scheme for a under-actuated crane system is how to formulate sliding surfaces.…”

Section: Introductionmentioning

confidence: 99%

An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

Nguyen¹

2022

Preprint

Self Cite

View full text Add to dashboard Cite

<pre>The paper proposes a new approach to efficiently control a three-dimensional overhead crane with six degrees of freedom (DoF). In addition to five usual output variables including three positions of the trolley, bridge and pulley and two swing angles of the hoisting cable, it is proposed to consider elasticity of the hoisting cable, which causes oscillation in the cable direction. That is, there exists $6^{th}$ under-actuated output in the crane system. To design an efficient controller for the six-DoF crane, it first employs the hierarchical sliding mode control approach, which not only guarantees stability but also minimizes sway and oscillation of the overhead crane when it transports a payload to desired location. Moreover, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by utilizing the fuzzy inference rule mechanism, which results in efficient operations of the crane in real time. More importantly, stabilization of the crane controlled by the proposed algorithm is theoretically proved by the use of the Lyapunov function. The proposed control approach was implemented in the synthetic environment for the extensive evaluation, where the obtained results demonstrate its effectiveness.</pre>

show abstract

Section: Introductionmentioning

confidence: 99%

An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

Nguyen¹

2022

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the literature, extensive studies has been done on payload swing control of various cranes, developing control methods like input shaping [1] , sliding mode control [2,3] , nonlinear control [4,5] , and so on. Meanwhile, many researchers have been focus on the dynamics of cranes since 1990s and proposed different modeling methods to describe their behaviors in the air [6,7] or in the waves [8,9] .…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

et al. 2021

View full text Add to dashboard Cite

Crane operations might be very dangerous in rough sea conditions due to unexpected payload swing induced by ship excitations. In this paper, a novel Cable-Driven Inverted Tetrahedron Mechanism (CDITM) is presented to suppress the payload swing for sake of the workers' safety. The CDITM retrofitting on an offshore crane is simplified as a constrained pendulum with a moving base, and its equations of motion are obtained by Newton Euler Method. Next, three-dimensional dynamic analysis is performed using Matlab/Simulink, and the influence law of ship excitations, tagline tension, crane pose and CDITM configuration on the payload swing are investigated. Finally, through comparative experimental verification, it is found that the simulation tendencies of in-plane swing follows the experiment curves quite well, and the variations between the simulation and experiment results are acceptable. Thus the dynamic modeling and analysis of CDITM are verified. The theoretical and experimental results are fundamental and valuable for the engineering application of CDITM in the offshore industries. INDEX TERMS Offshore cranes; anti-swing system; payload swing suppression; dynamics This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.

show abstract

“…The SEA system includes one active part (controlled) and one passive part, which are connected by a connector with elastic and damping properties. Thanks to this solution, the device is an underactuated system, whereby the number of generalized variables is greater than the number of programmable variables [26][27][28][29].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of an Underactuated System for Dynamic Body Weight Support

2021

View full text Add to dashboard Cite

This article concerns the stability analysis of a control system for a dynamic body weight support system in a rehabilitation device for the re-education of human gait. The paper presents a physical model of the device, which characterizes the most important physical phenomena associated with the movement of the system, i.e., inertia, damping, and elasticity. The device has one active and one passive element. They are connected by a connector with elastic and damping properties. This solution provides the kinematic chain required due to interactions with humans, while at the same time ensures that the device is an underactuated system. The article also presents the methodology used to verify the stability of the control system while acting as an active body weight support system. The paper formulates the mathematical model of the system that was used in the synthesis of control using the Lyapunov theory of stability. The results of simulation and experimental tests are also presented.

show abstract

Consistency of Control Performance in 3D Overhead Cranes under Payload Mass Uncertainty

Cited by 12 publications

References 28 publications

An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

Modeling and Control of an Underactuated System for Dynamic Body Weight Support

Contact Info

Product

Resources

About