Dynamic analysis and tracking trajectory control of a crane

Huang, Kang; Shunqiang, Sun; Zhen, Shengchao; Xia, Ge; Yongqi, Zhu

doi:10.1177/0954408916671971

Cited by 5 publications

(1 citation statement)

References 24 publications

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“…The applications of the Udwadia control was extensively reported in recent years. [31][32][33][34][35][36] However, Udwadia control does not consider any uncertainty that is inevitable in the actual mechanical systems. Motivated by these reasons, a robust control is designed based on the frame of the Udwadia control in this paper.…”

Section: Introductionmentioning

confidence: 99%

Robust control design for home pension service mobile robots with passive and servo constraints

2020

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This paper presents a novel robust control design for a class of home pension service mobile robots (HPSMRs) with non-holonomic passive constraints, based on the Udwadia-Kalaba theory and Udwadia control. The approach has two portions: dynamics modeling and robust control design. The Udwadia-Kalaba theory is employed to deal with the non-holonomic passive constraints. The frame of the Udwadia control is employed to design the robust control to tracking the servo constraints. The designed approach is easy to implement because the analytical solution of the control force can explicitly be obtained even if the non-holonomic passive constraints exists. The uniform boundedness and uniform ultimate boundedness are demonstrated by the theoretical analysis. The effectiveness of the proposed approach is verified through the numerical simulation by a HPSMR.

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Section: Introductionmentioning

confidence: 99%

Robust control design for home pension service mobile robots with passive and servo constraints

2020

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Overhead Crane Computer Model

Enin

Omelchenko

Fomin

et al. 2018

IOP Conf. Ser.: Mater. Sci. Eng.

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Study on the Core Groups of First Integrals and Folding Index for Mechanical Systems

Zhang

Chen

2019

Journal of Applied Mechanics

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In applying the Udwadia–Kalaba equation for constrained mechanical systems, a direct proof of the equivalence of first integrals and nonholonomic constraints is given, and it is demonstrated that the generalized force of the system is equivalent to the constraint force derived by all first integrals of the nonholonomic constraints. Furthermore, depending on whether complete information is included in the subsets of the first integrals or not, the concept of “multiple kernel” of the system is introduced, and then the core groups of the first integrals and the folding index, which reveals the “simplicity” of the system, are defined. Finally, the onefold system is discussed in detail, and the judgment method is given. To verify the feasibility of this method and illustrate the application of the multiple kernel theory, three examples are considered. The new concepts and results presented in this paper help reveal the inner structure of the general mechanical system, which forms the foundation of control theory of constraint motions, and the multiple kernel analysis of the complex systems can be a new research area of analytic mechanics in the future.

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Dynamic analysis and tracking trajectory control of a crane

Cited by 5 publications

References 24 publications

Robust control design for home pension service mobile robots with passive and servo constraints

Robust control design for home pension service mobile robots with passive and servo constraints

Overhead Crane Computer Model

Study on the Core Groups of First Integrals and Folding Index for Mechanical Systems

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