Disturbance employment-based sliding mode control for 4-DOF tower crane systems

Zhang, Menghua; Jing, Xingjian; Zhu, Zaixing

doi:10.1016/j.ymssp.2021.107946

Cited by 41 publications

(24 citation statements)

References 33 publications

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“…⋅ The rope is a massless rigid rod. 8,9,12,15,16 ⋅ In practice, q 3 and q 4 satisfy the following conditions: 3,8,12,17,18…”

Section: Ship-mounted Rotary Crane Modelingmentioning

confidence: 99%

“…With the premise of generality, the following assumptions are reasonable in many crane‐related studies.The rope is a massless rigid rod 8,9,12,15,16 In practice,

{q}_3

and

{q}_4

satisfy the following conditions: 3,8,12,17,18

$$ -\frac{\pi }{2}<{q}_3,{q}_4<\frac{\pi }{2}.

…”

Section: Problem Statementmentioning

confidence: 99%

“…Moreover, due to the existence of the boom and disturbances of the external environment, the swing characteristics of the load are very complicated, and it may cause damage to the load and personal accidents. To solve these problems, many meaningful studies have been done by many scholars and some valuable control strategies have been proposed, including sliding mode control, 8,9 input shaping, 10,11 model predictive control, 12,13 optimal control, 14,15 adaptive control, [16][17][18] robust control, 19,20 intelligent control, 21 and so forth.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive nonlinear control for 4‐DOF ship‐mounted rotary cranes

Ouyang

2022

Intl J Robust & Nonlinear

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Summary The swing characteristics of the load of ship‐mounted rotary cranes is very complicated, due to the rotation of the boom. Especially, when the crane is operating at sea, it is subject to some disturbances caused by waves, which makes the precise control of the load more difficult. We study the control problem of a four degree of freedom ship‐mounted rotary crane with continuous yaw and roll disturbances in this paper. Specifically, we propose an adaptive controller and the adaptive laws can be updated in real‐time depending on the state of the system and the disturbance. This method does not require linearization of the crane dynamic equations, therefore, the crane can get great control performance even if it is far from the equilibrium point. Comparative experiments demonstrate that the proposed method has excellent anti‐disturbance ability.

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“…⋅ The rope is a massless rigid rod. 8,9,12,15,16 ⋅ In practice, q 3 and q 4 satisfy the following conditions: 3,8,12,17,18…”

Section: Ship-mounted Rotary Crane Modelingmentioning

confidence: 99%

“…With the premise of generality, the following assumptions are reasonable in many crane‐related studies.The rope is a massless rigid rod 8,9,12,15,16 In practice,

{q}_3

and

{q}_4

satisfy the following conditions: 3,8,12,17,18

$$ -\frac{\pi }{2}<{q}_3,{q}_4<\frac{\pi }{2}.

…”

Section: Problem Statementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive nonlinear control for 4‐DOF ship‐mounted rotary cranes

Ouyang

2022

Intl J Robust & Nonlinear

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“…Sliding mode control (SMC), as an important branch of modern control theory [3], is used in many control systems because of its insensitivity to parameter changes, resistance to external interference, and fast dynamic response. In reference [4], a SMC method was designed for 4-DOF tower crane system. Reference [5] applied sliding mode as an observer of permanent magnet synchronous motor.…”

Section: Introductionmentioning

confidence: 99%

Global Nonsingular Fast Terminal Sliding Mode Control of Aerodynamic Heat Simulation Heating System Based on Linear Extended State Observer

Zhang

Ouyang

et al. 2022

J. Phys.: Conf. Ser.

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In this paper, a novel global nonsingular fast terminal sliding mode control (GNFTSMC) method based on linear extended state observer (LESO) is proposed for Aerodynamic Heat Simulation Heating System (AHSHS). The global nonsingular fast terminal sliding mode surface (GNFTSMS), comprising constant reaching law and LESO, establishes a closed-loop control for the whole control process. Firstly, the designed GNFTSMS eliminates the reaching stage, so that the whole control process is confined on the sliding mode surface. The fast term and nonsingular term ensure convergence speed in the sliding phase, and eliminate the singularity and suppress the chattering phenomenon. Then, the constant reaching law can effectively solve the problem of convergence stagnation in the control process and further accelerate the convergence speed. Then, LESO can feed back the observation of input disturbances and external disturbances to the control system. Furthermore, Lyapunov stability theorem is utilized to prove the stability of the closed-loop system. Finally, the simulation results verify that the proposed GNFTSMC method based on LESO is superior.

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“…Operational mistakes occur frequently when pursuing highly repetitive tasks under timepressure. To avoid the deficiencies of the human operation of cranes, automation of such systems has become a pre-requisite and to this end elaborated nonlinear control methods have been developed [22,23].…”

Section: Introductionmentioning

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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Disturbance employment-based sliding mode control for 4-DOF tower crane systems

Cited by 41 publications

References 33 publications

Adaptive nonlinear control for 4‐DOF ship‐mounted rotary cranes

Adaptive nonlinear control for 4‐DOF ship‐mounted rotary cranes

Global Nonsingular Fast Terminal Sliding Mode Control of Aerodynamic Heat Simulation Heating System Based on Linear Extended State Observer

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

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