Real-time trajectory control of an overhead crane using servo-constraints

Otto, Svenja; Seifried, Robert

doi:10.1007/s11044-017-9569-4

Cited by 21 publications

(20 citation statements)

References 10 publications

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“…Besides the partial feedback linearisation technique, the servo-constraint [30,31,35,36] based inverse dynamics calculation approaches are widespread too. While the underlying theory is detailed in [35] and, [30] the application for pendulum-like systems is presented in [31] and.…”

Section: Control Of Pendulum-like Manipulatorsmentioning

confidence: 99%

“…While the underlying theory is detailed in [35] and, [30] the application for pendulum-like systems is presented in [31] and. [36] Although, the system is underactuated, we apply a linear proportional-derivative (PD) controller assigned to a simple control task similarly to the several papers referred in. [28] The motion space of the underactuated systems can be divided into subspaces regarding two points of view.…”

Section: Control Of Pendulum-like Manipulatorsmentioning

confidence: 99%

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Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Zana

Zelei²

2021

International Journal of Optomechatronics

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Spatial pose estimation devices for mobile and cable-suspended robots have been rapidly developed. The HTC Vive sensor, which operates with swept laser beams, has aroused many researchers' interest. We present experiments with a double pendulum robot equipped with the HTC Vive Tracker. A linear feedback controller ensured the tracking of pre-defined end-effector trajectories of various speeds. The pose feedback of the controller was provided by the HTC Vive. As a reference, the realized trajectory was measured by the OptiTrack motion capture system. We report that the motion control of a spatial double pendulum robot can be achieved by using a linear feedback controller together with cable winch and fan actuators providing six independent inputs. The accuracy of the HTC Vive was proved to be sufficient for the feedback position control of indoor mobile robots. We report that the error strongly correlates with the linear/angular velocity, the acceleration and the jerk.

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Section: Control Of Pendulum-like Manipulatorsmentioning

confidence: 99%

Section: Control Of Pendulum-like Manipulatorsmentioning

confidence: 99%

Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Zana

Zelei²

2021

International Journal of Optomechatronics

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“…The linear-in-parameter form of overhead crane nonlinear dynamics makes it possible to use adaptive control algorithms to reduce the effect of parameter uncertainty such as those reported in [18,19]. Other nonlinear techniques have also been investigated on overhead cranes such as partial feedback linearization [20], full feedback linearization using swing angle and its rate in spherical-coordinates [21], gain scheduling [22], nonlinear switching control [23], augmented LQR with sliding control [24], discrete-time MPC with feedforward control [25], and nonlinear MPC [26,27].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Robust and Optimized Control of a 3D Overhead Crane System

Khatamianfar

Savkin

2019

Sensors

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A new and advanced control system for three-dimensional (3D) overhead cranes is proposed in this study using state feedback control in discrete time to deliver high performance trajectory tracking with minimum load swings in high-speed motions. By adopting the independent joint control strategy, a new and simplified model is developed where the overhead crane actuators are used to design the controller, with all the nonlinear equations of motions being viewed as disturbances affecting each actuator. A feedforward control is then designed to tackle these disturbances via computed torque control technique. A new load swing control is designed along with a new motion planning scheme to robustly minimize load swings as well as allowing fast load transportation without violating system’s constraints through updating reference trolley accelerations. The stability and performance analysis of the proposed discrete-time control system are demonstrated and validated analytically and practically.

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“…In this paper, we develop a funnel controller for a simplified model of an overhead crane which was discussed in [1]. The model belongs to the class of nonlinear systemṡ…”

Section: Introductionmentioning

confidence: 99%

“…Now we introduce the model that we want to consider. The overhead crane model, which was introduced in [1], is an overhead gantry crane with a trolley moving along a horizontal axis. A suspended load is attached to the trolley by four ropes, which are assumed to be rigid and massless.…”

Section: Introductionmentioning

confidence: 99%

Funnel control for overhead crane model

Berger

Lê

Reis

2018

Proc Appl Math and Mech

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We consider an overhead crane whose control variables are the length of the rope and force/velocity at the gantry. The output consists of the position of the load. The objective is to design a closed-loop tracking controller which also takes into account the transient behavior. First we show that this system has no well-defined relative degree, which unfortunately does not allow to apply established methods for adaptive control to achieve the objective. To circumvent this problem, we design a dynamic state feedback which results in a system with relative degree four. Thereafter, we apply a funnel controller to this feedback system. We show that our approach can be used to move loads from one to another given position in the situation where there are several obstacles which have to be circumnavigated.

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Real-time trajectory control of an overhead crane using servo-constraints

Cited by 21 publications

References 10 publications

Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Feedback motion control of a spatial double pendulum manipulator relying on swept laser based pose estimation

Real-Time Robust and Optimized Control of a 3D Overhead Crane System

Funnel control for overhead crane model

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