Proportional–integral-derivative controller with inlet derivative filter fine-tuning of a double-pendulum gantry crane system by a multi-objective genetic algorithm

Abdel-razak, Mahmoud H.; Ata, Atef A.; Mohamed, Khaled T.; Haraz, Eman H.

doi:10.1080/0305215x.2019.1603300

Cited by 15 publications

(2 citation statements)

References 17 publications

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“…[14][15][16] It is difficult to obtain the desired control performance with this conventional PID control. 17,18 Hence, it needs to be combined with other control strategies, such as objective optimization algorithm, 19 neural network-based PID controllers, 20 genetic algorithm-based PID controllers, 21 and fuzzy control-based PID controllers. 22,23 Subsequent studies have increasingly focused on PD controllers combined with input shaping, 24,25 which is effective in suppressing the oscillations in mechanical systems such as manipulators 26 and spacecraft.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Response of an Overhead Crane with Anti-Swing Controller in Driving Force and Energy Consumption

Gao,

Gong,

et al. 2024

The International Journal of Acoustics and Vibration

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Cargo sway caused by overhead crane operation not only reduces crane efficiency and safety but also affects the driving force and energy consumption of the operating mechanism. In this paper, a control scheme based on proportional derivative (PD) control and an input shaping technique is proposed to suppress cargo sway. First, the dynamics model of the crane system is established, and the mathematical expressions of the cargo sway, driving force, and energy consumption are derived. The accuracy of the dynamics model is verified through a comparison between the simulations and experiments. Then, a PD-IS controller is designed based on the dynamics model. Finally, the performance of the designed controller is simulated under four typical excitation signals and compared to that of the standard PD controller.

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Section: Introductionmentioning

confidence: 99%

Dynamic Response of an Overhead Crane with Anti-Swing Controller in Driving Force and Energy Consumption

Gao,

Gong,

et al. 2024

The International Journal of Acoustics and Vibration

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“…Numerous methods have been proposed for different types of double pendulum crane systems, such as bridge cranes [4][5][6], tower cranes [7], gantry cranes [8,9] and boom cranes [10][11][12], which are mainly divided into feedback control and open-loop control. In detail, feedback control methods of the double pendulum crane system include proportional integral derivative (PID) control [13], state feedback control [14], sliding mode control [15], enhanced-coupling control [16], adaptive tracking control [17], fuzzy control [18], neural network control [19], etc.…”

Section: Introductionmentioning

confidence: 99%

Equivalent Rope Length-Based Trajectory Planning for Double Pendulum Bridge Cranes with Distributed Mass Payloads

Sun

Wang

2022

Actuators

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The hoisting form in which the payload is hung on the hook by two rigging ropes is widely used in the industry, but it also results in the complex double pendulum dynamic of the bridge crane, making the anti-swing trajectory planning full of challenges. In this paper, based on the concept of the equivalent rope length, an equivalent single pendulum model of the double pendulum bridge crane with the distributed mass payload is established. On this basis, the particle swarm optimization algorithm is adopted to solve the equivalent rope length and calculate the parameters of the anti-swing velocity trajectory based on the phase plane method. To evaluate the effectiveness of the proposed method, experiments with a laboratory double pendulum bridge crane are conducted. Experimental results demonstrate that the residual oscillation angle of the payload of the proposed method is smaller than those of the existing methods, such as the trajectory planning without the equivalent rope length, input shaping and command smoothing.

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Optimal enhanced backstepping method for trajectory tracking control of the wheeled mobile robot

Zhang,

Chai,

Tan

2024

Optim Control Appl Methods

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This paper proposes a novel control method applied to the trajectory tracking of the wheeled mobile robot. This method can solve the tracking difficulty caused by the non‐holonomic constraint and the under‐actuated properties. First, according to the kinematic and dynamic tracking error models, the desired velocities for trajectory tracking purposes are obtained. Second, the control method, consisting of an enhanced backstepping controller with fewer gains and an optimization algorithm, is designed. The actual trajectory of the mobile robot is exactly converged and kept at the predefined reference trajectory by the operation of this method. Next, this method with globally uniformly asymptotically stability is theoretically analyzed. Finally, simulation comparisons and physical experiments are conducted in different scenarios. The tracking performance is evaluated by three metrics, namely convergence speed, tracking accuracy and robustness, thus verifying the effectiveness of the novel control method.

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Proportional–integral-derivative controller with inlet derivative filter fine-tuning of a double-pendulum gantry crane system by a multi-objective genetic algorithm

Cited by 15 publications

References 17 publications

Dynamic Response of an Overhead Crane with Anti-Swing Controller in Driving Force and Energy Consumption

Dynamic Response of an Overhead Crane with Anti-Swing Controller in Driving Force and Energy Consumption

Equivalent Rope Length-Based Trajectory Planning for Double Pendulum Bridge Cranes with Distributed Mass Payloads

Optimal enhanced backstepping method for trajectory tracking control of the wheeled mobile robot

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