Nonlinear controls of a rotating tower crane in conjunction with trolley motion

Abstract

Based on two nonlinear control techniques composed of partial feedback linearization and sliding mode control, the robust nonlinear controllers are successfully designed in the case of crane's complicated operation in which a combination of trolley translation and tower rotation is considered. The proposed controllers concurrently implement four duties well: rotating tower and moving trolley to desired positions from their initial positions precisely, keeping small the cargo swings during transport process, and completely suppressing them at cargo destination. The simulation results show the high qualities of system responses and asymptotical stability of all state trajectories. The robustness of two suggested controllers is also analyzed and compared through simulation.

Điều khiển thích nghi bền vững cần trục tháp với tham số thay đổi

“…Vaughan [4] dùng kỹ thuật command shaping để giảm lắc hàng với mô hình con lắc kép. Tuan [5] thiết kế hai bộ điều khiển cho cần trục tháp dựa trên kỹ thuật hồi tiếp tuyến tính hóa từng phần và kỹ thuật điều khiển trượt (sliding mode control SMC). Devesse [6] phát triển một bộ điều khiển tối ưu về mặt thời gian bằng nguyên lý cực đại Pontryagin.…”

Robust integral sliding mode control of tower cranes

“…Therefore, the current work and the following literature focused on deriving various controllers based on the full nonlinear model without any simplification or linearization. Le et al (2013) designed two nonlinear controllers, partial feedback linearization and SMC, based on the full nonlinear model of the tower crane. However, the control effort for these controllers was not discussed, and the controllers were not applied experimentally.…”

“…Le et al (2013) designed two nonlinear controllers, partial feedback linearization and SMC, based on the full nonlinear model of the tower crane. However, the control effort for these controllers was not discussed, and the controllers were not applied experimentally.…”

Self-organizing fuzzy optimal control for under-actuated systems

“…During the past years, the challenging nature of analysis and control of under-actuated systems has attracted numerous researchers with interests in nonlinear control theory, robotics and automation, control of autonomous vehicles and control of flexible structures. [6][7][8][9][10][11] Control of general under-actuated mechanical systems is currently considered a major open problem.…”