Control of a Parametrically Excited Crane: A Vector Lyapunov Approach

Vázquez, Carlos; Collado, Joaquı́n; Fridman, Leonid

doi:10.1109/tcst.2012.2233739

Cited by 62 publications

(18 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In addition: 1=lðtÞ ¼ 1=l 0 ð1 þ l e ðtÞÞ, where l e ðtÞ ¼ P 1 i¼1 ðÀ1Þ i ðerðtÞÞ i and jl e j ðe=1 À eÞ ¼ e l , see Ref. [6]. Substituting 1=lðtÞ in Eq.…”

Section: Partial Feedback Linearization With the Inclusion Ofmentioning

confidence: 99%

“…[1] and recent developments in Refs. [2][3][4][5][6]. Crane systems exhibit a complex behavior, with a nonlinear interaction between the trolley and the payload, where the acceleration of the trolley induces undesirable oscillations in the payload.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, uncertainties and external perturbations occur during regular operation conditions, degrading the overall control performance and increasing the risk of damages and accidents, see Refs. [2,5,6].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Second-Order Sliding Mode Control of a Perturbed-Crane

Vázquez

Collado

Castillo

2015

Journal of Dynamic Systems, Measurement, and Control

Self Cite

View full text Add to dashboard Cite

A five degrees-of-freedom overhead crane system affected by external perturbations is the topic of study. Existing methods just handle the unperturbed case or, in addition, the analysis is limited to three or two degrees-of-freedom. A wide range of processes cannot be restricted to these scenarios and this paper goes a step forward proposing a control solution for a five degrees-of-freedom system under the presence of matched and unmatched disturbances. The contribution includes a model description and a second-order sliding mode (SOSM) control design ensuring the precise trajectory tracking for the actuated variables and at the same time the regulation of the unactuated variables. Furthermore, the proposed approach is supported by the design of strong Lyapunov functions providing an estimation of the convergence time. Simulations and experiments, including a comparison with a proportional-integral-derivative (PID) controller, verified the advantages of the methodology.

show abstract

“…In addition: 1=lðtÞ ¼ 1=l 0 ð1 þ l e ðtÞÞ, where l e ðtÞ ¼ P 1 i¼1 ðÀ1Þ i ðerðtÞÞ i and jl e j ðe=1 À eÞ ¼ e l , see Ref. [6]. Substituting 1=lðtÞ in Eq.…”

Section: Partial Feedback Linearization With the Inclusion Ofmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Second-Order Sliding Mode Control of a Perturbed-Crane

Vázquez

Collado

Castillo

2015

Journal of Dynamic Systems, Measurement, and Control

Self Cite

View full text Add to dashboard Cite

show abstract

“…For crane control, a considerable amount of literature has been published to address the problem of suppressing the swinging load vibration. For instance, a controller to minimise the oscillation of the payload due to parametric resonance is presented in [9].…”

Section: Introductionmentioning

confidence: 99%

Fast Terminal Sliding Control Application for Second-order Underactuated Systems

Singh

2019

Int. J. Control Autom. Syst.

View full text Add to dashboard Cite

In this paper, we propose a robust and finite-time control method, based on the terminal sliding mode (TSM), for a class of two-degree-of-freedom (2-DOF) underactuated electromechanical systems subject to bounded uncertainties and disturbances. First, the proposed Fast Terminal Sliding Mode (FTSM) method is presented. Then for the underactuated system control, hierarchical sliding surfaces are defined, consisting of two layers. In the first layer, separate FTSM sliding functions are selected for each state of the system. In the second layer, the system sliding manifold is a linear combination of the first layer sliding surfaces. A control law is derived and stability conditions of the nonlinear system are obtained by using the Lyapunov theory. To verify the effectiveness of our proposed method, the developed control technique is applied to control both the swinging load and the cart position of an underactuated gantry crane. Extensive simulation and real-time experiments demonstrate enhanced performance of the system and robustness against parametric variations in comparison to conventional TSM and sliding mode control.

show abstract

“…Nestes casos, critérios de estabilidade, robustez relativa e performance não podem ser formalmente analisados. Con-troleótimo e métodos de controle inteligente são investigados em Ngo and Hong (2012), Vázquez et al (2013), Sun et al (2015) e Park et al (2014b), Yu et al (2011), Zhao and Gao (2012), respectivamente. Em particular a estes estudos, destaca-se a aplicação de sistemas de controle fuzzy de guindastes overhead.…”

Section: Introductionunclassified

Controle Fuzzy PDC Baseado em Inequações Matriciais Lineares de um Sistema de Guindaste Overhead

Aguiar

Leite

2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

View full text Add to dashboard Cite

This paper presents a state-space fuzzy model and the design of a fuzzy controller for a class of overhead cranes. The fuzzy model is obtained from the sector nonlinearity method and from the use of the original nonlinear differential equations. A method for approximation in fuzzy partition spaces is applied to give a compact fuzzy model, which avoids further controldesign difficulties in the sense of relaxing linear matrix inequalities. A fuzzy controller is obtained from parallel distributed compensation so that the closed-loop system is Lyapunov stable and has bounded control inputs given a feasible solution to the linear matrix inequalities. The fuzzy control has shown robustness and ability to move a loaded crane smoothly, even after load collisions. Resumo: Este artigo apresenta um modelo fuzzy em espaço de estados e o projeto de controle fuzzy de uma classe de sistemas de guindaste. O modelo fuzzyé obtido a partir do método de não-linearidade setorial e das equações diferenciais não-lineares originais. Um método de aproximação em espaços fuzzy particionadosé aplicado para obtenção de um modelo fuzzy compacto, e que evita complicações de projeto no sentido de relaxar desigualdades matriciais lineares. Um controlador fuzzyé obtido a partir de compensação paralela distribuída tal que o sistema em malha fechadaé Lyapunov estável e tem entradas de controle limitadas dada uma solução factível para as inequações matriciais lineares. O controle fuzzy de um guindaste se mostrou robusto e capaz de mover cargas de forma suave, mesmo após colisões da carga.

show abstract

Control of a Parametrically Excited Crane: A Vector Lyapunov Approach

Cited by 62 publications

References 22 publications

Second-Order Sliding Mode Control of a Perturbed-Crane

Second-Order Sliding Mode Control of a Perturbed-Crane

Fast Terminal Sliding Control Application for Second-order Underactuated Systems

Controle Fuzzy PDC Baseado em Inequações Matriciais Lineares de um Sistema de Guindaste Overhead

Contact Info

Product

Resources

About