Optimal trajectory planning and tracking control method for overhead cranes

Chen, He; Fang, Yongchun; Sun, Ning

doi:10.1049/iet-cta.2015.0809

Cited by 84 publications

(38 citation statements)

References 31 publications

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Section: Introductionmentioning

confidence: 99%

“…Open‐loop control schemes, such as input shaping, adaptive input shaping, filters, path planning, etc, are developed and applied to control overhead crane systems. Due to their inability to cope with perturbations and disturbances, some researchers combined them with closed‐loop controllers to improve the control performance . As for closed‐loop control schemes, it can be further categorized into proportional integral derivative, linear quadratic regulator, model predictive control (MPC), adaptive control, sliding mode control, etc.…”

Section: Introductionmentioning

confidence: 99%

“…Due to their inability to cope with perturbations and disturbances, some researchers combined them with closed-loop controllers to improve the control performance. [12][13][14] As for closed-loop control schemes, it can be further categorized into proportional integral derivative, 15,16 linear quadratic regulator, 17,18 model predictive control (MPC), 19-21 adaptive control, 22-24 sliding mode control, 25-29 etc. The closed-loop control schemes listed above are all model-based methods, which suggests that their control performances severely depend on the accurate mathematical modeling of overhead crane systems.…”

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confidence: 99%

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A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Wang

Liu

Zhang

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, a unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes is proposed. A feasible reference trajectory taking constraints into consideration is first generated offline by the symplectic pseudospectral optimal control method. Then, a trajectory tracking model predictive controller also based on the symplectic pseudospectral method is developed to track the reference trajectory. At each sampling instant, the trajectory tracking controller works by solving an open‐loop optimal control problem where linearized system dynamics is used instead to improve the computational efficiency. Since the symplectic pseudospectral optimal control method is the core algorithm for both offline trajectory planning and online trajectory tracking, constraints on state variables and control inputs can be easily imposed and hence theoretically guaranteed in solutions. By selecting proper weighted matrices on tracking error and control, the developed controller could achieve control objectives in both accurate trolley positioning and fast suppressing of residual swing angles. Simulations for 3D overhead crane systems in the presence of perturbations in initial conditions, an abrupt variation of system parameter, and various external disturbances demonstrate that the developed controller is robust and of excellent control performance.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Wang

Liu

Zhang

et al. 2019

Intl J Robust & Nonlinear

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“…3D overhead crane system modeling Figure 1 shows the structure of the 3D overhead crane. The dynamic model of the overhead crane is as follows [26]:…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Control of 3D Overhead Crane System

Vu¹,

Thanh²,

Duong³

et al. 2018

Adaptive Robust Control Systems

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In this chapter an adaptive anti-sway controller for uncertain overhead cranes is proposed. The system model including the system uncertainties and disturbances is introduced firstly. Next, the adaptive controller which can guarantee tracking the desired position of the trolley as well as the anti-sway of the load cable is established. In this chapter, the system is proven to be input-to-state stable (ISS) which is supported by Lyapunov technique. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results shown that the presented controller gives the good performances (i.e., fast transient response, position tracking, and low swing angle) when there exist system parameters variation as well as input disturbances.

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“…Although the LQR method is simple and highly efficient, the system states can possibly deviate from the equilibrium points when the system is disturbed by external signals, and thus, it is difficult to guarantee the stability of the control performance. To solve this problem, the constraint of the payload swing and the capability of anti-disturbances need to be taken into account, and some combined algorithms of open loop and closed loop methods are introduced [30][31][32]. In [30], Blajer and Kołodziejczyk employed the feedforward control and the feedback PID control together, according to the inverse dynamics analysis.…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Motion Control Optimization for the Bridge Crane System

et al. 2018

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Abstract:A novel control algorithm combining the linear quadratic regulator (LQR) control and trajectory planning (TP) is proposed for the control of an underactuated crane system, targeting position adjustment and swing suppression. The TP is employed to control the swing angle within certain constraints, and the LQR is applied to achieve anti-disturbance. In order to improve the accuracy of the position control, a differential-integral control loop is applied. The weighted LQR matrices representing priorities of the state variables for the bridge crane motion are searched by the multi-objective genetic algorithm (MOGA). The stability proof is provided in order to validate the effectiveness of the proposed algorithm. Numerous simulation and experimental validations justify the feasibility of the proposed method.

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Optimal trajectory planning and tracking control method for overhead cranes

Cited by 84 publications

References 31 publications

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Robust Adaptive Control of 3D Overhead Crane System

Multi-Objective Motion Control Optimization for the Bridge Crane System

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