Passivity-Based Nonlinear Control Approach for Tracking Task of an Underactuated CMG

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

“…In contrast to the open-loop methods, the closed-loop feedback control methods are more robust and more resistant to the unexpected disturbance and therefore are more popular in the research field. Sliding mode control (Nguyen et al, 2022; Zhang et al, 2020, 2021), fuzzy control (Miao et al, 2022; Smoczek, 2014; Tolochko and Bazhutin, 2020), observer-based control (Lu et al, 2017; Ouyang et al, 2018; Wu et al, 2020; Zhang et al, 2019), passivity-based nonlinear control (Toriumi and Angelico, 2021; Zhang et al, 2022), energy shaping–based control (Chen and Sun, 2020; Sun and Fang, 2012; Wu and He, 2017), and so on are designed and applied on trajectory tracking and anti-swing suppression for crane systems. Some intelligent algorithms such as a neural network-based control method (Abe, 2011; Nemcik et al, 2021; Yang et al, 2020), radial basis function network (RBFN) (Tuan et al, 2018), and genetic algorithm (GA) (Qian et al, 2016) are also included in the theoretical research and practical engineering.…”