Modeling and nonlinear energy-based anti-swing control of underactuated dual ship-mounted crane systems

Hu, Die; Qian, Yuzhe; Fang, Yongchun; Chen, Yuzhu

doi:10.1007/s11071-021-06837-x

Cited by 12 publications

(3 citation statements)

References 33 publications

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“…In recent years, underactuated systems have been widely used in modern industrial fields and the control issues of these systems have received extensive attention from the control academia (Cabecinhas et al, 2019;Hu et al, 2021;Pham and Lee, 2019;Qian et al, 2022;Wu et al, 2021aWu et al, , 2021b. With many merits such as high efficiency, low production costs, large carrying capacity, and so on, the overhead crane systems have been applied in various industrial fields to accomplish the task of the material transportation.…”

Section: Introductionmentioning

confidence: 99%

Output feedback control for overhead cranes subject to double-pendulum swing effects and uncertain disturbances

Lei,

Wu,

Zhao

et al. 2023

Transactions of the Institute of Measurement and Control

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In this paper, a disturbance-observer–based control approach is developed for overhead crane systems. Different from existing control strategies, the issues consisting of the output feedback, input saturation, double-pendulum dynamics, and uncertain disturbances are taken into consideration here. In particular, a disturbance observer is designed first, which can exactly estimate uncertain disturbances. Next, to enhance the performance of the controller, a virtual position signal is constructed and a corresponding Lyapunov function is introduced. Then, based on the provided Lyapunov function and the designed disturbance observer, a composite control approach is developed for overhead crane systems with double-pendulum dynamics and the convergence of the system states is proved via rigorous theoretical analysis. Finally, the effectiveness and robustness of the proposed control approach are verified by simulation tests.

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Section: Introductionmentioning

confidence: 99%

Output feedback control for overhead cranes subject to double-pendulum swing effects and uncertain disturbances

Lei,

Wu,

Zhao

et al. 2023

Transactions of the Institute of Measurement and Control

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“…The adaptive controller achieves precise boom positioning and overcomes the unfavorable effects of system parameter uncertainties, while the output feedback is designed to avoid using velocity signals. In [14], a nonlinear energy-based controller is designed for dual ship-mounted crane systems to ensure the stability of the desired equilibrium point and enable the precise positioning of the crane boom and suppression of payload swing. In [15], a tracking controller is presented for boom crane and tower crane systems with multiple inputs and outputs (MIMO) that are subject to uncertainty.…”

Section: Introductionmentioning

confidence: 99%

On Investigating Dynamic Coupling in Floating Platform and Overhead Crane Interactions: Modeling and Control

Al-Solihat,

Saaideh,

Al-Rawashdeh

et al. 2023

Preprint

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This study introduces a comprehensive model addressing the dynamic interaction between a crane and platform in the presence of realistic surge-roll-heave movements induced by ocean waves. While the motion of the payload is ascertainable, the surge-roll-heave motions of the floating platform are considered unknown. Consequently, we proposed a control design strategy integrating a backstepping controller and a high-gain observer. The primary objectives of this design are to accurately track the desired (linear) trajectories of the cart position and mitigate its swing (angular) motion. Moreover, the proposed controller is designed to handle challenges such as unknown dynamic friction, dynamic coupling, and external disturbances, all while ensuring dynamic. The extended high-gain observer is crucial in estimating dynamic states and external disturbances. Through simulation, we validate the effectiveness of our model-based control approach, demonstrating its robust performance in the face of unknown nonlinearities and disturbances caused by wave motion.

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“…Some experts have studied the H∞ output feedback anti-swing controller for a class of nonlinear bridge crane systems with external interference. In practical applications, it has shown good load angle inhibition effect [21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

Specific Point in Time Excitation Control Method for Spatial Multi-Degree-of-Freedom Systems under Continuous Operation

Zhang,

Qin

2023

Electronics

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The port container gantry crane studied in this paper is a four-degree-of-freedom spatial continuous system. In actual work, in order to make the container transfer smoothly, the response of the whole system needs to be accurately predicted and timely adjusted. The whole system is divided into rotary mechanism, lifting mechanism, lifting trolley mechanism, and big cart mechanism for detailed analysis. By constructing the field transfer matrix, a one-dimensional wave equation of continuous system and the Lagrange equation with redundant parameters, the response of each subsystem is solved precisely. The results of the study found that in some periods, the swing of the container was too large. In order to improve the safety and stability of transmission, an active control method of specific point in time excitation (SPE) is proposed for the first time. This method predicts the swing amplitude of the container in advance using the response results of the numerical model. When the set response interval is exceeded, the external excitation intervention can effectively inhibit the moving range of the container in the transit process. Finally, the results are compared with the simulation model to achieve the experimental purpose. It is in line with the expected experimental effect.

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Modeling and nonlinear energy-based anti-swing control of underactuated dual ship-mounted crane systems

Cited by 12 publications

References 33 publications

Output feedback control for overhead cranes subject to double-pendulum swing effects and uncertain disturbances

Output feedback control for overhead cranes subject to double-pendulum swing effects and uncertain disturbances

On Investigating Dynamic Coupling in Floating Platform and Overhead Crane Interactions: Modeling and Control

Specific Point in Time Excitation Control Method for Spatial Multi-Degree-of-Freedom Systems under Continuous Operation

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