A new discrete-time approach to anti-swing tracking control of overhead cranes

Khatamianfar, Arash; Savkin, Andrey V.

doi:10.1109/cca.2014.6981437

Cited by 8 publications

(3 citation statements)

References 22 publications

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“…The trajectory will be defined along with the desired velocity (V c ). The last segment is also a quadratic polynomial where the velocity falls to zero when reaching the endpoint within traveling time (t f ) [32], as shown in Figure 4. By means of LSPB, the trajectory of position, velocity, and acceleration are derived, as shown in Figure 4.…”

Section: Linear Segments With Parabolic Blends (Lspb) Theorymentioning

confidence: 99%

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

Vorasawad,

Park,

Kim

2023

Machines

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The rise of smart factories and warehouses has ushered in an era of intelligent manufacturing, with autonomous robots playing a pivotal role. This study focuses on improving the navigation and control of autonomous forklifts in warehouse environments. It introduces an innovative approach that combines a modified Linear Segment with Parabolic Blends (LSPB) trajectory planning with Model Predictive Control (MPC) to ensure efficient and secure robot movement. To validate the performance of our proposed path-planning method, MATLAB-based simulations were conducted in various scenarios, including rectangular and warehouse-like environments, to demonstrate the feasibility and effectiveness of the proposed method. The results demonstrated the feasibility of employing Mecanum wheel-based robots in automated warehouses. Also, to show the superiority of the proposed control algorithm performance, the navigation results were compared with the performance of a system using the PID control as a lower-level controller. By offering an optimized path-planning approach, our study enhances the operational efficiency and effectiveness of Mecanum wheel robots in real-world applications such as automated warehousing systems.

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Section: Linear Segments With Parabolic Blends (Lspb) Theorymentioning

confidence: 99%

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

Vorasawad,

Park,

Kim

2023

Machines

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“…From practical perspective, discrete-time nature of the overall design eliminates the issues concerning quantization errors and sampling time choice and facilitates implementation of the control system on any industrial digital processor. This work is the complete upgrade of our previous works conducted on 2D overhead cranes [51,52] as part of a project in [53], to make it compatible with highly complex 3D overhead cranes with rigorous analytical proof on stability and robustness of the whole control system as well as several practical tests. Furthermore, our new motion planning scheme proposes a comprehensive algorithm, which in conjunction with our load swing control, guarantees time-efficient reference trajectories in real-time without violating actuators’ constraints as another major contribution of this work.…”

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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“…The first task is a tracking controller designed to make the controlled plan follow a reference trajectory [14,21]. The second task is an anti-swing controller [2,23]. The tracking controller can be obtained from optimal open-loop techniques or input shaping techniques [10].…”

Section: Introductionmentioning

confidence: 99%

Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

Meng

et al. 2015

IFS

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Abstract. This paper describes a hybrid anti-swing control scheme of an inspection robot in tunnels for power transmission cables. The hybrid control scheme consists of velocity switching and fuzzy logic control, so that the robot can be operated smoothly without causing excessive swings in acceleration or deceleration motion. In order to ensure control system robustness for greatest movement in the tunnel, fuzzy logic control is used for horizontal anti-swing control. Velocity switching is adopted for incline anti-swing control, in order to obtain sufficient damping as well as a fast response. The stability of the hybrid system has been analyzed. The experimental results present the practicability and effectiveness of the proposed method.

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A new discrete-time approach to anti-swing tracking control of overhead cranes

Cited by 8 publications

References 22 publications

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

Efficient Navigation and Motion Control for Autonomous Forklifts in Smart Warehouses: LSPB Trajectory Planning and MPC Implementation

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

Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

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