Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

Measurement and Control

2020

Self Cite

In the control research on the rotary crane systems with double-pendulum effect, a motion trajectory with both simple structure and excellent robust performance is proposed to achieve the positioning of the boom and the suppression of the load sway. The presented trajectory consists of an anti-swing component and a boom positioning component, where the first part is used to achieve the sway angle elimination without affecting boom positioning; the second one is used to move the boom to the desired location precisely. The Lyapunov technique, LaSalle’s invariance theorem, and Barbalat’s lemma are used to prove the excellent performance of the method. Eventually, the effectiveness of the proposed method was verified through a large amount of simulation data analysis.

Section: Problem Statement and Model Transformationmentioning

confidence: 99%

Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

Ouyang

Measurement and Control

2020

Self Cite

“…In the past few decades, in order to achieve the dual goals of trolley positioning and load elimination, more and more scholars are devoted to this subject and a series of anti‐sway positioning control methods have been come up with. For instance, input shaping method, 2‐7 model predictive control, 8‐10 trajectory planning method, 11‐13 robust control, 14‐16 adaptive control, 17‐19 and so on. However, most control methods are proposed for two‐dimensional overhead cranes systems and 3D overhead cranes with single pendulum effect.…”

Section: Introductionmentioning

confidence: 99%

Swing reduction for double‐pendulum three‐dimensional overhead cranes using energy‐analysis‐based control method

Ouyang

Zhao

Intl J Robust & Nonlinear

2021

Self Cite

In practical applications, when the mass of the hook cannot be ignored or the shape of the payload is irregular, the crane often exhibits the dynamic characteristics of double‐pendulum. Due to the complexity of double‐pendulum effect, the design of a controller for an three‐dimensional overhead crane with double‐pendulum effect is more complicated and more challenging. In addition, it is difficult to obtain satisfactory control performance due to the uncertainty of the parameters of the crane system. Moreover, the saturation constraint of the actuator is not considered, which may cause the actuator to saturate and severely degrade the control performance. Aiming at these practical problems, we propose a nonlinear controller based on energy analysis for the three‐dimensional overhead cranes system with double‐pendulum effect, while considering the saturation constraints of the actuator. Meanwhile, the asymptotic stability of the closed‐loop system is not only guaranteed. The comparative simulation and experimental results demonstrate the effectiveness of the proposed controller in trolley positioning and swing angles eliminating.

“…Concerning the supertwisting sliding mode formation maneuvers, it is possible to avoid the overestimate problem of the gain by the disturbance observer technique. So far, it is reported that the disturbance observer technique has been successfully applied to mechatronics systems, [28][29][30][31] chemical and process systems, 32 biological systems, 33 aerospace systems, 34 and so on. This paper adopts the technique for the super-twisting sliding mode formation maneuvers of uncertain multi-robot systems.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer–based super-twisting sliding mode control for formation tracking of multi-agent mobile robots

Measurement and Control

Wang

et al. 2020

This paper presents a super-twisting sliding mode control method for the formation maneuvers of multiple robots. In the real world of applications, the robots suffer from many uncertainties and disturbances that trouble the super-twisting sliding mode formation maneuvers very much. Especially, this issue has the adverse effects on the formation performance when the uncertainties and disturbances have an unknown bound. This paper focuses on this issue and utilizes the technique of disturbance observer to meet this challenge. In terms of the leader–follower framework, this paper investigates the integration of the super-twisting sliding mode control method and the disturbance observer technique. This kind of formation design has the guaranteed closed-loop stability in the sense of Lyapunov. Some simulations are implemented through a multi-robot platform. The results demonstrate that the superiority of the formation design regardless of uncertainties and disturbances.