Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane

Jaafar, Hazriq Izzuan; Mohamed, Zulkifli; Shamsudin, Mohamad Amir; Subha, Nurul Adilla Mohd; Ramli, Liyana; Abdullahi, Auwalu M.

doi:10.1016/j.ymssp.2018.06.005

Cited by 90 publications

(37 citation statements)

References 31 publications

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“…Recently, some scholars have proposed a lot of methods for the double‐pendulum load sway suppression problem in crane systems . Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double‐pendulum overhead crane system . In addition, other similar input shaping–based methods were also reported in other works .…”

Section: Introductionmentioning

confidence: 99%

“…[38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56] Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double-pendulum overhead crane system. 38 In addition, other similar input shaping-based methods were also reported in other works. [39][40][41][42][43][44] Ouyang et al presented an S-shaped curve trajectory generation method and a composite controller, which is the combination of a PD controller and a disturbance observer, for overhead cranes.…”

Section: Introductionmentioning

confidence: 99%

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Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

Ouyang

Zhang

2019

Intl J Robust & Nonlinear

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Summary Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

Ouyang

Zhang

2019

Intl J Robust & Nonlinear

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“…During the past several decades, many researchers have kept a watchful eye on dealing with the control problem of tower crane systems, and a lot of works have been reported. Two common open-loop controllers are input shaping [7][8][9] and optimal velocity control, 10 which are simple and, hence, easy to be implemented in practical applications. However, their control performance might be influenced by external disturbances and parametric uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects

Zhang

et al. 2019

Measurement and Control

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As typical underactuated systems, tower crane systems present complicated nonlinear dynamics. For simplicity, the payload swing is traditionally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the payload mass, or the size of the payload is large, a tower crane may exhibit double-pendulum effects. In addition, existing control methods assume that the hook and the payload only swing in a plane. To tackle the aforementioned practical problems, we establish the dynamical model of the tower cranes with double-pendulum and spherical-pendulum effects. Then, on this basis, an energy-based controller is designed and analyzed using the established dynamic model. To further obtain rapid hook and payload swing suppression and elimination, the swing part is introduced to the energy-based controller. Lyapunov techniques and LaSalle’s invariance theorem are provided to demonstrate the asymptotic stability of the closed-loop system and the convergence of the system states. Simulation results are illustrated to verify the correctness and effectiveness of the designed controller.

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“…Broadly, the existing control strategies in literature can be categorized into three: open-loop (OL), closed-loop (CL), and hybrid control (HC) schemes. For the OL schemes, the input command shaping (ICS) [2][3][4][5][6][7][8], the filter control [9], the command smoothing techniques (CS) [10], and the trajectory planning (TP) techniques [11][12][13] had been proposed. ICS achieves sway minimization by exciting two or more transient oscillations at different instances that result in effective cancellation of the payload oscillations.…”

Section: Introductionmentioning

confidence: 99%

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Shehu

Huang

et al. 2019

Journal of Control Science and Engineering

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The overhead crane is required to operate fast and precisely with minimal sway. However, high-speed operations cause undesirable load sways, hazardous to operating personnel, the payload being handled, and the crane itself. Thus, a high-quality control is required. In this work, the nonlinear model of the overhead crane was established and the sliding mode control (SMC) was proposed that ensured the existence of sliding motion in the presence of payload and hoisting height variations, and viscous frictions. To maximize the benefits derived from the proposed control method, novel sliding slope-update based on intelligent neural-network and fuzzy algorithms were developed to tune the controller, guaranteeing precise tracking of the actuated variables as well as regulation of the unactuated variables. The proposed methods adjust predetermined value of the sliding manifold’s slope in response to variations in hoisting heights. Control applications were conducted, and results based on graphical, integral absolute error (IAE), and integral time absolute error (ITAE) proved the effectiveness of the proposed algorithms. It was observed that the response of the controller with back-propagation-trained neural-network was more effective relative to that of the fuzzy algorithm.

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Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane

Cited by 90 publications

References 31 publications

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

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