Adaptive Control Design for Uncertain Underactuated Cranes With Nonsmooth Input Nonlinearities

Yang, Yue; Ye, Xin; Wen, Baoyu; Huang, Jiangshuai; Su, Xiaojie

doi:10.1109/tsmc.2022.3192754

Cited by 10 publications

(3 citation statements)

References 28 publications

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“…2 The adaptive control method is one approach that was successfully applied to minimize the residual vibration for underactuated crane systems, even when crane systems have unknown system parameters and unsmooth nonlinear input. 3 However, feedback control schemes face significant obstacles when applied to control crane systems, including the difficulty of knowing or sensing the payload location accurately and reliably, changes in crane system parameters, and the ability to be compatible with human operation. To overcome these difficulties, feedforward control approaches such as input and command shaping are successfully utilized to minimize or suppress payload residual vibrations induced by the point-to-point motion.…”

Section: Introductionmentioning

confidence: 99%

“…One of the most effective ways to control the antiswing problem is the application of a closed‐loop control system with real‐time feedback of the payload sway motion 2 . The adaptive control method is one approach that was successfully applied to minimize the residual vibration for underactuated crane systems, even when crane systems have unknown system parameters and unsmooth nonlinear input 3 . However, feedback control schemes face significant obstacles when applied to control crane systems, including the difficulty of knowing or sensing the payload location accurately and reliably, changes in crane system parameters, and the ability to be compatible with human operation.…”

Section: Introductionmentioning

confidence: 99%

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Comparative analysis on the performance of different types of input‐ and command‐shaping controllers in minimizing payload residual vibration of an overhead crane with an inclined supporting track

Alfares,

Alhazza

2024

Int Journal of Mech Sys Dyn

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Reducing the effects of external disturbance on overhead crane systems is crucial, as they can impair the controller performance and cause excessive vibrations or oscillations of the payloads. One such external disturbance is the inclination of the supporting track of the crane trolley, which causes the system dynamics model to change. An open‐loop control strategy is widely utilized to control the payload sway motion and generally does not require any alterations in the physical structure of a system or the installation of sensors and/or actuators. Input and command shaping are two common open‐loop control techniques applied to control overhead cranes. In this paper, the effect of moving an overhead crane system along an inclined supporting track is investigated. In addition, the ability of different types of input‐ and command‐shaping control schemes to suppress the residual vibrations due to trolley track inclination is demonstrated. Two types of input‐shaping controllers, which are double‐step, zero vibration, and one command waveform (WF) shaper based on a trigonometric function, are used and tested. A linear equation of motion of the overhead crane resting on an inclined surface is developed to simulate the overhead crane and payload motion. The effectiveness of the different types of open‐loop controllers to suppress residual vibrations is verified by both simulation and experimental results. In addition, a new WF command shaper is proposed and designed to overcome track inclination while eliminating payload residual vibration. A comprehensive comparative analysis, both numerically and experimentally, is performed on the new proposed shaper to measure its effectiveness in handling inclination when compared to other types of open‐loop controllers. The new shaper outperforms other controllers in eliminating payload residual vibration for a wider range of inclination angles.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comparative analysis on the performance of different types of input‐ and command‐shaping controllers in minimizing payload residual vibration of an overhead crane with an inclined supporting track

Alfares,

Alhazza

2024

Int Journal of Mech Sys Dyn

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“…Underactuated systems are a crucial area of research in nonlinear control theory and robotics [1,2]. Underactuated systems have fewer independent inputs than degrees of freedom [3,4], such as balance bikes [5], flexible robots [6], crane systems [7], surface vessels [8], and quadcopter drones [9]. Underactuated systems can occur for a number of reasons:…”

Section: Introductionmentioning

confidence: 99%

Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

Huang,

Wang,

Zeng

et al. 2024

Applied Sciences

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This article proposes a comprehensive stable control strategy for the planar multi-link underactuated manipulator (PMLUM), considering several uncertainties. According to the nilpotent approximation property, the control procedure is split into two stages. In the first stage of control, we postulate the idea of model degradation, reducing the PMLUM to a planar virtual Pendubot (PVP). This occurs by controlling the active link (AL) to a specific desired position and the passive link (PL) moves along with it. When the AL moves to the desired position, the second phase of control is entered. Meanwhile, all ALs are regarded as a whole, so the PMLUM can be regarded as a mechanical arm with 2-DOF. In the second stage of control, due to the nilpotent approximation feature of the PVP, the PVP is guided to the desired angle using the iterative steering technique. Simulation experiments are carried out on active–active–passive (AAP) and active–active–active–passive (AAAP) systems under major uncertainties, which contain initial velocity and torque disturbances. The final results validate the effectiveness of the method proposed.

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Barrier function-based adaptive antisway control for underactuated overhead cranes

Zhang,

He,

Zhu

2023

Nonlinear Dyn

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Adaptive Control Design for Uncertain Underactuated Cranes With Nonsmooth Input Nonlinearities

Cited by 10 publications

References 28 publications

Comparative analysis on the performance of different types of input‐ and command‐shaping controllers in minimizing payload residual vibration of an overhead crane with an inclined supporting track

Comparative analysis on the performance of different types of input‐ and command‐shaping controllers in minimizing payload residual vibration of an overhead crane with an inclined supporting track

Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

Barrier function-based adaptive antisway control for underactuated overhead cranes

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