Trolley regulation and swing reduction of underactuated double-pendulum overhead cranes using fuzzy adaptive nonlinear control

Miao, Xiaodong; Zhao, Bixing; Wang, Lei; Ouyang, Huimin

doi:10.1007/s11071-022-07465-9

Cited by 13 publications

(12 citation statements)

References 26 publications

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“…The conclusion of (37) means that x(t) will go to infinity when t goes to infinity, which contradicts the result of (32). Therefore, the supposition of y(t) 6 ¼ 0 is invalid, which further makes the following equality hold…”

Section: Stability Analysismentioning

confidence: 92%

“…In particular, the passivity-based control is usually used to construct a suitable Lyapunov function for the double-pendulum overhead cranes, however, the energy damping rate only depends on the trolley. 31,32 To enhance the coupling behavior between the trolley and the payload/hook, a new enhanced-coupling-based approach is introduced, 33 where the system dynamic equations need to be linearized when making stability analysis. In addition, some sliding-mode-based nonlinear control approaches are reported to cope with uncertain disturbances in overhead crane systems.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Li,

Wu,

Zhao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel disturbance observer and a Lyapunov-based control approach are developed for the crane control. For existing works, the assumption on the disturbances is strong and the motivation of these methods is to reject disturbances by feedback control. To tackle these problems, this paper proposes a novel composite control strategy consisting of a nonlinear control method and a finite time disturbance observer. Specifically, first, based on the system dynamic equations, a disturbance estimator is put forward, which can exactly identify the unknown disturbances in finite time. Next, an elaborate Lyapunov function is constructed and a disturbance-compensation-based control approach is presented for the overhead crane system with double-pendulum dynamics. Then, rigorous theoretical analysis is given to prove that all of the states of the closed-loop system asymptotically converge to the origin. At last, simulation tests are included to verify the effectiveness and robustness of the proposed method.

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Section: Stability Analysismentioning

confidence: 92%

Section: Introductionmentioning

confidence: 99%

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Li,

Wu,

Zhao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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show abstract

“…In practical AC system [16], uncertainty, such as a change in payload mass, is inevitable. The uncertainty of ACs is characterized by (possibly rapid and irregular) time-varying and unknown bounds [17]. The uncertainty could considerably degrade the performance of the control system if not properly handled [18].…”

Section: Introductionmentioning

confidence: 99%

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

Zhang

Yin

2023

Nonlinear Dyn

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Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, its tracking control remains challenging, particularly for precise dynamic tracking control. This paper proposes an adaptive diffeomorphism-constraint-based control (ADCBC) for a nonlinear AC to robustly achieve trajectory tracking while guaranteeing desired dynamic control performance (DDCP), considering (possibly rapid and irregular) time-variant uncertainty with unknown bounds. A user-definable hard-limiting function was used to guarantee the DDCP, including the requirement for steady-state tracking error and dynamic convergence speed. The desired trajectories and DDCP were formulated as equality and inequality servo constraints, respectively. A diffeomorphism approach was adopted to incorporate inequality servo constraints into equality servo constraints, yielding new equality servo constraints. Thus, the control task was converted to enable the transformed AC to follow the new equality servo constraints and was completed by a constraint-based control (CBC) scheme, where an adaptive law was established for the estimation of online uncertainty bounds to compensate for uncertainty. No approximations or linearizations were invoked. The effectiveness and robustness of the proposed ADCBC were confirmed through rigorous proofs and simulation results. To the best of our knowledge, this is the first endeavor in tracking control while guaranteeing the DDCP for uncertain AC-like systems.

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“…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, 2020Zhang et al, , 2021, fuzzy control (Miao et al, 2022;Smoczek, 2014;Tolochko and Bazhutin, 2020), observerbased 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.…”

Section: Introductionmentioning

confidence: 99%

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

Huang

Zhao

2023

Transactions of the Institute of Measurement and Control

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This paper introduces a method to navigate the tower crane movement and suppress the payload swing synchronously. Special error signals are introduced, which bring the coupling of dynamics among various states of the crane and enable the control to meet the synchronous operation in practice. The special angle-dependent energy functions are designed as the candidate sub-Lyapunov functions for decoupling the states. The controller is then stepwise designed with the help of the dynamics model. The stability of the control is proven in the Lyapunov sense. Extensive simulations and experiments have been carried out to demonstrate the effectiveness of the proposed nonlinear coupling control. A popular control approach in the literature is chosen to compare with the current work. It is found that the proposed control is quite effective in suppressing the payload swing while tracking the pre-determined path at the same time.

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Trolley regulation and swing reduction of underactuated double-pendulum overhead cranes using fuzzy adaptive nonlinear control

Cited by 13 publications

References 26 publications

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

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

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