Sliding mode controls of double-pendulum crane systems

Tuấn, Lê Anh; Lee, Soon-Geul

doi:10.1007/s12206-013-0437-8

Cited by 133 publications

(69 citation statements)

References 25 publications

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“…36 For literature completeness, we provide the expressions of the passivity-based controller and the CSMC controller as follows.…”

Section: Contrast Testsmentioning

confidence: 99%

“…By utilizing Lyapunov techniques and LaSalle's invariant theorem, the origin of the closed-loop system is proven to be asymptotically stable. Numerical simulation is used to compare control performance of the proposed controller with passivity-based controller 30 and CSMC controller 36 and illustrates robustness of the designed controller against different internal (cable lengths, payload masses, and desired positions) and external disturbances. In general, the main contribution of this article is given as follows.…”

Section: Introductionmentioning

confidence: 99%

“…With air resistance being ignored, the dynamic model of a double-pendulum overhead crane in the X-Y plane is represented by 30,36 …”

Section: Introductionmentioning

confidence: 99%

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A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint

Zhang

Rong

et al. 2018

Advances in Mechanical Engineering

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A novel energy-coupling-based control method for under-actuated double-pendulum overhead cranes with initial control force constraint is proposed in this article. The significant feature of the designed controller is its superior control performance as well as its strong robustness with respect to parameter variations and external disturbances. By incorporating a smooth hyperbolic tangent function into the control law, the proposed controller guarantees soft start of the trolley. Moreover, to improve the transient performance of the crane system, coupling behavior among the trolley movement, the hook swing, and the payload swing is enhanced by introducing a generalized payload horizontal-displacement signal. Lyapunov techniques and LaSalle's invariance theorem are utilized to prove the stability of the designed closedloop system. Simulation results demonstrate that the new energy-coupling control method achieves superior control performance and strong robustness over different payload masses, cable lengths, desired positions, and external disturbances with reduced initial control force.

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“…36 For literature completeness, we provide the expressions of the passivity-based controller and the CSMC controller as follows.…”

Section: Contrast Testsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint

Zhang

Rong

et al. 2018

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Some researchers have presented several methods to attack the issue, i.e., decoupling control [14], passivity-based control [15], wave-based control [16], hierarchical sliding mode control [17,18], input shaping control [12,13,[19][20][21][22][23], neuralnetwork-based intelligent control [24], e ct. The methods can roughly be divided into two categories according to the type of control structure, i.e., feedback control [14][15][16][17][18]24] or feedforward control [12,13,[19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

“…The methods can roughly be divided into two categories according to the type of control structure, i.e., feedback control [14][15][16][17][18]24] or feedforward control [12,13,[19][20][21][22][23]. Any method has both merits and drawbacks.…”

Section: Introductionmentioning

confidence: 99%

Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

Qian¹,

Yang²,

Lee³

2015

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. Overhead cranes are extensively employed but their performance suffers from the natural sway of payloads. Sometime, the sway exhibits double-pendulum motions. To suppress the motions, this paper investigates the design of simultaneous input-shaping-based fuzzy control for double-pendulum-type overhead cranes. The fuzzy control method is based on the single input-rule modules (SIRMs). Provided the all the system variables are measurable, the SIRMs fuzzy controller is designed at first. To improve the performance of the fuzzy controller, the simultaneous input shaper is adopted to shape the control command generated by the fuzzy controller. Compared with other two control methods, i.e., the SIRMs fuzzy control and the convolved input-shaping-based SIRMs fuzzy control, simulation results illustrate the feasibility, validity and robustness of the presented control method for the anti-swing control problem of double-pendulum-type overhead cranes.

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A pure neural network controller for double‐pendulum crane anti‐sway control: Based on Lyapunov stability theory

Chen

Gao

et al. 2019

Asian Journal of Control

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Crane systems have been widely applied in logistics due to their efficiency of transportation. The parameters of a crane system may vary from each transport, therefore the anti-sway controller should be designed to be insensitive to the variation of system parameters. In this paper, we focus on pure neural network adaptive tracking controller design issue that does not require the parameters of crane systems, i.e. the trolley mass, the payload mass, the cable lengths, and etc. The proposed neural network controller only requires the output feedback signals of the trolley, i.e. the position and the velocity, which means no sway measuring equipment is needed. The Lyapunov method is utilized to design the weights update law of neural network, and the robustness of the proposed controller is proved by the Lyapunov stability theory. The results of numerical simulations show that the proposed neural network controller has excellent performance of trolley position tracking and payload anti-sway controlling. KEYWORDS adaptive control, anti-sway control, double-pendulum crane systems, Lyapunov stability theory, neural network control 1 | INTRODUCTION Crane systems with cable hoisting mechanism are typically under-actuated systems. They play an important role in logistics and are widely used in container harbors, railway container yards, and other industrial factories. As cable hoisting mechanism is adopted, the weight of the crane is reduced, but the payload swings unavoidably during the transportation as well as reaching the desired position. The sway of the payload decreases the efficiency of crane's transportation and may result in hazards, such as collision, tip over, and etc. To improve the effectiveness and the safety of crane, researchers proposed many anti-sway control strategies to position the trolley accurately and eliminate the payload sway. All the anti-sway control strategies aim to: i) move the trolley safely, fast, and accurately to the desired position, and ii) decrease the sway of the payload as much as possible during the transportation and eliminate the residual sway when reaching the desired position. TIf the parameters of crane systems are exactly known, open-loop control strategies can work effectively. Singhose et al. reviewed the command shaping/input shaping [1] and implemented the method on doublependulum crane systems [2,3]. It shows that the method

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Sliding mode controls of double-pendulum crane systems

Cited by 133 publications

References 25 publications

A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint

A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint

Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

A pure neural network controller for double‐pendulum crane anti‐sway control: Based on Lyapunov stability theory

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