Nonlinear Energy-Based Regulation Control of Three-Dimensional Overhead Cranes

Wu, Xianqing; He, Xiongxiong

doi:10.1109/tase.2016.2542105

Cited by 81 publications

(35 citation statements)

References 62 publications

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“…xF (16) It shows that the double pendulum gantry crane system is passive and dissipative under the input F(t) and output .…”

Section: Controller Designmentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

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“…xF (16) It shows that the double pendulum gantry crane system is passive and dissipative under the input F(t) and output .…”

Section: Controller Designmentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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“…If conditions (25) and (26) hold, _ V (x(t))\0 at x(t) 6 ¼ 0. The above inequalities do not belong to LMI because of the product of unknown matrix or vector variables.…”

Section: Rules Premise Variables Linear Modelmentioning

confidence: 99%

“…The above inequalities do not belong to LMI because of the product of unknown matrix or vector variables. The left and right of inequalities (25) and (26) are multiplied by P À1 , respectively. Let X = P À1 and Q i = K i X , the following LMI conditions can be obtained…”

Section: Rules Premise Variables Linear Modelmentioning

confidence: 99%

A novel anti-swing and position control method for overhead crane

Shao

Zhang

et al. 2019

Science Progress

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Based on Takagi–Sugeno fuzzy modeling and linear matrix inequality with decay rate, this article presents a novel anti-swing and position control scheme for overhead cranes. First, the simplified nonlinear dynamic model is proposed by adopting a virtual control variable method to reduce the number of nonlinear terms. Then, the Takagi–Sugeno fuzzy model is constructed using sector nonlinear technique, and the anti-swing and position controller of overhead crane is designed based on a linear matrix inequality with decay rate. Finally, the proposed control method is compared with the traditional Takagi–Sugeno fuzzy control method, and robustness of the system is discussed. The simulation results demonstrate that the proposed method is feasible and effective.

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“…An error tracking control method was used in [17], for which the error trajectories of the trolley and the payload swing can be prespecified. Some other new complexity control methods have also been put forward to guarantee fast and accurate positioning and effective swing suppression, such as passivity-based control schemes [18][19][20][21] and sliding mode control (SMC) methods [22][23][24]. Regarding unknown inputs, the state and the output vectors of a system can be reconstructed [25].…”

Section: Introductionmentioning

confidence: 99%

An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

Bao

2018

Applied Sciences

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The payload swing of an overhead crane needs to be controlled properly to improve efficiency and avoid accidents. However, the swing angle is usually very difficult to control to zero degrees or for it to even remain within an acceptable range because the overhead crane is a complex nonlinear underactuated system, especially when the actual working environment is accompanied by strong disturbances and great uncertainty. To resolve this, a real-time anti-swing closed-loop control strategy is proposed that considers external disturbances. The swing angle is measured in time and it functions with the load displacement as feedback inputs of the closed-loop system. The nonlinear model of the crane is simplified by a linear system with virtual disturbances, which are estimated by the equivalent input disturbance (EID) method. Both simulation and experimental results for a 2-D overhead crane system are investigated to illustrate the validity of the proposed method.

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Nonlinear Energy-Based Regulation Control of Three-Dimensional Overhead Cranes

Cited by 81 publications

References 62 publications

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

A novel anti-swing and position control method for overhead crane

An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

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