Nonlinear coupling control laws for an underactuated overhead crane system

Abstract

, "Current sensor-based feed cutting force intelligent estimation and tool wear condition monitoring," IEEE Trans. Ind. Electron., vol. 47, pp. 697-702, July 2000. [9] X. Li, "On-line detection of the breakage of small diameter drills using current signature wavelet transform," Int. J. Mach. Tools, Manuf., vol. 39, no. 1, pp. 157-164, 1999 Abstract-In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivitybased controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle's invariant set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then present two nonlinear controllers that increase the coupling between the planar gantry position and the payload angle. Experimental results are provided to illustrate the improved performance of the nonlinear controllers over the simple PD controller.

Adaptive control of rotary inverted pendulum system with time-varying uncertainties

“…The rotary inverted pendulum is well-known to be an underactuated system [7,11] where fewer actuators are used to drive the system than its degree of freedom. To decouple the underactuated dynamics, Olfati's transformation [27,28] is used to transform the system into a special cascade form [7].…”

Application of Machine Vision to Collision Avoidance Control of the Overhead Crane

“…That study used sliding mode controller and visual feedback to eliminate the swing caused by the sliding of overhead crane, thus reducing the risks of impacting persons. Some researchers used fuzzy control to improve the swing of hanging object caused by the sliding of overhead crane [3], and applied nonlinear coupling control law or fuzzy control to the overhead crane [4][5]. The above studies used the reduced model of overhead crane for test, but did not apply the model in actual operation.…”

Jet-Scheduling Control for SpiderCrane: Experimental Results

“…Crane control has been addressed by many researchers through various methodologies, for example Corriga et al [1998], Gustafsson [1996], Fang et al [2003], Yoshida and Kawabe [1992], Sakawa and Sano [1997], Overton [1996], Lee et al [2006], Yang and O'Connor [2006], Zhang et al [2005]. Linear classical designs such as LQR, although locally guaranteeing stability and performance, cannot be extended over a very large domain, mainly because of the intrinsic nonlinearities (Corriga et al [1998], Gustafsson [1996]).…”

“…Linear classical designs such as LQR, although locally guaranteeing stability and performance, cannot be extended over a very large domain, mainly because of the intrinsic nonlinearities (Corriga et al [1998], Gustafsson [1996]). These nonlinearities are essentially due to the gyroscopical coupling such as centrifugal force and centripetal acceleration (Kiss et al [1999], Fang et al [2003]) and to variations associated with the cable length, i.e. the natural pendulum frequency changes with cable length.…”

“…the natural pendulum frequency changes with cable length. Hence, passivity-based design (Fang et al [2003], Kiss et al [2000]) and geometrical approaches (Kiss et al [2001], Kiss et al [1999]) have been introduced to operate the crane over a wider domain and possibly away from the quasi-static mode (Kiss et al [2001]). …”