An improved input shaping design for an efficient sway control of a nonlinear 3D overhead crane with friction

Maghsoudi, Mohammad Javad; Mohamed, Zulkifli; Sudin, Shahdan; Buyamin, Salinda; Jaafar, Hazriq Izzuan; Ahmad, S.M.

doi:10.1016/j.ymssp.2017.01.036

Cited by 105 publications

(56 citation statements)

References 18 publications

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“…Therefore, Equation (37) can be utilized to show that V(t) ∈ L ∞ , Based on this fact, the following conclusion can be drawn from Equation (2). It can be proven that:…”

Section: Stability Analysismentioning

confidence: 91%

“…The popular methods include input shaping control [2,3], trajectory planning (TP) control [4,5], etc. The input shaping control is imposed in order to produce a series of pulses according to the ratio between the system frequency and the damping; then, the convolution between the pulse and the reference trajectory is conducted in order to generate the control command.…”

Section: Introductionmentioning

confidence: 99%

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Multi-Objective Motion Control Optimization for the Bridge Crane System

et al. 2018

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Abstract:A novel control algorithm combining the linear quadratic regulator (LQR) control and trajectory planning (TP) is proposed for the control of an underactuated crane system, targeting position adjustment and swing suppression. The TP is employed to control the swing angle within certain constraints, and the LQR is applied to achieve anti-disturbance. In order to improve the accuracy of the position control, a differential-integral control loop is applied. The weighted LQR matrices representing priorities of the state variables for the bridge crane motion are searched by the multi-objective genetic algorithm (MOGA). The stability proof is provided in order to validate the effectiveness of the proposed algorithm. Numerous simulation and experimental validations justify the feasibility of the proposed method.

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“…Therefore, Equation (37) can be utilized to show that V(t) ∈ L ∞ , Based on this fact, the following conclusion can be drawn from Equation (2). It can be proven that:…”

Section: Stability Analysismentioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

Multi-Objective Motion Control Optimization for the Bridge Crane System

et al. 2018

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“…e = β = 0 (49) Further, the swing angle θ 1 of hook and the swing angle θ 2 of payload are usually kept within 10 degrees due to the acceleration of the trolley in practice. In this case, the swing angle θ 1 of hook and the swing angle θ 2 of payload satisfy the following approximation [37,41,46,47]:…”

Section: Stability Analysismentioning

confidence: 99%

“…After combining Equations (9), (10), (11), (46), (47) and (50), the Equations (9)-(11) can be rewritten as follows:…”

Section: Stability Analysismentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

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“…Specifically, Sun et al [10,11] present antiswing controllers to regulate the cargo position to the desired location asymptotically in the presence of ship roll and heave movements for offshore crane systems applied in modern ocean transportation and logistics. Moreover, existing methods also include input shaping [12][13][14][15], feedback control [16][17][18][19][20][21][22][23][24][25][26][27][28], intelligent control [29][30][31][32], and trajectory planning method [33][34][35][36]. Specifically, several input shapers are designed to reduce payload swing of bridge crane systems [12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Robust Control of Crane with Perturbations

Wu¹,

Chen²,

Yang³

2018

Adaptive Robust Control Systems

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In the presence of persistent perturbations in both unactuated and actuated dynamics of crane systems, an observer-based robust control method is proposed, which achieves the objective of trolley positioning and cargo swing suppression. By dealing with the unactuated and unknown perturbation as an augmented state variable, the system dynamics are transformed into a quasi-chain-of-integrators form based on which a reduced-order augmented-state observer is established to recover the perturbations appearing in the unactuated dynamics. A novel sliding manifold is constructed to improve the robust performance of the control system, and a linear control law is presented to make the state variables stay on the manifold in the presence of perturbations in unactuated dynamics. A Lyapunov function candidate is constructed, and the entire closed-loop system is proved rigorously to be exponentially stable at the equilibrium point. The effectiveness and robustness of the proposed observer-based robust controller are verified by numerical simulation results.

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An improved input shaping design for an efficient sway control of a nonlinear 3D overhead crane with friction

Cited by 105 publications

References 18 publications

Multi-Objective Motion Control Optimization for the Bridge Crane System

Multi-Objective Motion Control Optimization for the Bridge Crane System

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Robust Control of Crane with Perturbations

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