Optimal trajectory planning strategy for underactuated overhead crane with pendulum-sloshing dynamics and full-state constraints

Li, Gang; Ma, Xin; Li, Zhi; Li, Yibin

doi:10.1007/s11071-022-07480-w

Cited by 26 publications

(16 citation statements)

References 49 publications

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“…The complementarity constraint manages the taut/slack state of the cable (cables can pull, not push), and the model is complete if an impact model is added to (70) (inelastic collisions are usually chosen [242,243]). The same approach can be used to model tethered satellites, cable-driven robotic systems in crane configuration [48,49,244,245,246], helicopters or quadrotors with cable-suspended loads [242,247,248,249,250], manipulation of objects with cables [218,219,77], gantry cranes with liquid-sloshing payloads [251,252] (then the object has a complex dynamics, which can be approximated with multibody dynamics models [253,Chapter 5]). As explained in [6, Example 1.6], the cables can also be controlled with a force exerted at one tip, or with one of the tip's position (e.g, the attachment point on the aircraft example).…”

Section: Aircraft With Cable-suspended Load (Aerocrane) and Morementioning

confidence: 99%

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Brogliato

2023

Annual Reviews in Control

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Section: Aircraft With Cable-suspended Load (Aerocrane) and Morementioning

confidence: 99%

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Brogliato

2023

Annual Reviews in Control

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“…Trajectory planning for ACs can output desired smooth trajectories. If the arms move according to the desired trajectories during the entire process, the AC will reach the target without spilling water [2,3]. The key to achieving this goal is to design a tracking control with desired dynamic control performance (DDCP).…”

Section: Introductionmentioning

confidence: 99%

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Zhang

Yin

2023

Nonlinear Dyn

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Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, its tracking control remains challenging, particularly for precise dynamic tracking control. This paper proposes an adaptive diffeomorphism-constraint-based control (ADCBC) for a nonlinear AC to robustly achieve trajectory tracking while guaranteeing desired dynamic control performance (DDCP), considering (possibly rapid and irregular) time-variant uncertainty with unknown bounds. A user-definable hard-limiting function was used to guarantee the DDCP, including the requirement for steady-state tracking error and dynamic convergence speed. The desired trajectories and DDCP were formulated as equality and inequality servo constraints, respectively. A diffeomorphism approach was adopted to incorporate inequality servo constraints into equality servo constraints, yielding new equality servo constraints. Thus, the control task was converted to enable the transformed AC to follow the new equality servo constraints and was completed by a constraint-based control (CBC) scheme, where an adaptive law was established for the estimation of online uncertainty bounds to compensate for uncertainty. No approximations or linearizations were invoked. The effectiveness and robustness of the proposed ADCBC were confirmed through rigorous proofs and simulation results. To the best of our knowledge, this is the first endeavor in tracking control while guaranteeing the DDCP for uncertain AC-like systems.

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“…Among them, the input shaping and trajectory planning techniques (Fasih et al, 2020; La and Nguyen, 2019; Tian et al, 2021; ur Rehman et al, 2022) are open-loop methods with the purposes of payload swing suppression and trolley and jib positioning by involving predefined reference trajectories. The coupling of the trolley translation and payload swing are always considered so that the swing angles are suppressed once the trolley and jib follow the planned reference trajectories (Fang et al, 2012; Hoang et al, 2014; Li et al, 2022). However, these kinds of methods require precise system model and is sensitive to external disturbance.…”

Section: Introductionmentioning

confidence: 99%

Synchronous slew/translation positioning and swing suppression control for 4-DOF tower crane system

Huang

Zhao

2023

Transactions of the Institute of Measurement and Control

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This paper introduces a method to navigate the tower crane movement and suppress the payload swing synchronously. Special error signals are introduced, which bring the coupling of dynamics among various states of the crane and enable the control to meet the synchronous operation in practice. The special angle-dependent energy functions are designed as the candidate sub-Lyapunov functions for decoupling the states. The controller is then stepwise designed with the help of the dynamics model. The stability of the control is proven in the Lyapunov sense. Extensive simulations and experiments have been carried out to demonstrate the effectiveness of the proposed nonlinear coupling control. A popular control approach in the literature is chosen to compare with the current work. It is found that the proposed control is quite effective in suppressing the payload swing while tracking the pre-determined path at the same time.

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Optimal trajectory planning strategy for underactuated overhead crane with pendulum-sloshing dynamics and full-state constraints

Cited by 26 publications

References 49 publications

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Synchronous slew/translation positioning and swing suppression control for 4-DOF tower crane system

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