A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Abstract

Summary In this paper, a unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes is proposed. A feasible reference trajectory taking constraints into consideration is first generated offline by the symplectic pseudospectral optimal control method. Then, a trajectory tracking model predictive controller also based on the symplectic pseudospectral method is developed to track the reference trajectory. At each sampling instant, the trajectory tracking controller works by solving an open‐loop optimal control problem where linearized system dynamics is used instead to improve the computational efficiency. Since the symplectic pseudospectral optimal control method is the core algorithm for both offline trajectory planning and online trajectory tracking, constraints on state variables and control inputs can be easily imposed and hence theoretically guaranteed in solutions. By selecting proper weighted matrices on tracking error and control, the developed controller could achieve control objectives in both accurate trolley positioning and fast suppressing of residual swing angles. Simulations for 3D overhead crane systems in the presence of perturbations in initial conditions, an abrupt variation of system parameter, and various external disturbances demonstrate that the developed controller is robust and of excellent control performance.

Neural networks‐based sliding mode tracking control for the four wheel‐legged robot under uncertain interaction

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Design, Implementation, and Validation of Robust Fractional-Order PD Controller for Wheeled Mobile Robot Trajectory Tracking

“…Wheeled Mobile Robots (WMRs) are capable of working in different situations, including the inclement, dangerous, or even harmful ones. In the past few decades, WMRs have been widely applied in a great variety of civilian and military tasks, for example, space exploration, materials transportation, supplies delivery, mine clearance, and search and rescue [1][2][3][4][5][6]. Currently, trajectory tracking and regulation is one of the most concerned problems in WMRs related studies [7].…”

Receding Horizon Longitudinal Control Technology for Automatic Carrier Landing With Variable Reference Trajectory Based on Sliding Rate Information

“…And the successive convexification technique is integrated to further achieve excellent numerical robustness and fast convergence [30]. Various numerical tests demonstrate that the symplectic pseudospectral method is an appealing numerical method for solving trajectory planning problems [31] [32]. Owing to the good numerical characteristic of symplectic pseudospectral methods, together with the idea of receding horizon control, a fast receding horizon carrier landing control technology with the variable reference trajectory based on the glide rate information is designed in this paper.…”