An LQR controller in the obstacle avoidance of a two-wires hammerhead crane

Gutierrez, Irandi; Collado, Joaquı́n

doi:10.1016/j.neucom.2016.08.104

Cited by 9 publications

(7 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Content may change prior to final publication. Substituting (41) and ( 42) into (33) and making some calculations, we can get By analyzing (29), it is found that there are 8 equality constraints on y 2 (t). We choose a 7-order polynomial function to represent y 2 (t), which is indicated as follows:…”

Section: Trajectory Planningmentioning

confidence: 99%

“…On the other hand, some scholars have proposed some novel obstacle avoidance control methods based on crane dynamics. Gutierrez and Joaquin analyzed the crane dynamics and proposed a novel control method which uses a virtual one-wired crane that is equivalent to the new two-wired one [29]. Miyoshi et al present the method that deals with path planning for autonomous overhead cranes considering payload rotation [30].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Time Optimal Trajectory Planning Method for Double-Pendulum Crane Systems With Obstacle Avoidance

Zhang

Chen

et al. 2021

IEEE Access

View full text Add to dashboard Cite

For a crane system, when the payload is too large to be seen as a mass point, or the hook mass cannot be directly ignored, it performs more like a double-pendulum crane system, instead of a single-pendulum crane system. Due to many factors, the working environment of the industrial crane system is complex. Obstacles sometimes appear in the movement path of the payload, which affects the normal operation of the crane system and may cause accidents like collisions. To handle this issue, we propose a time optimal trajectory planning method for the double-pendulum crane system with obstacle avoidance, which ensures the objective of obstacle avoidance by the payload hoisting/lowering. During the trajectory planning process, a series of physical constraints, including the trolley velocity constraints, the trolley acceleration constraints, the payload's swing angle constraints and the hook's swing angle constraints are considered. It can improve the safety of the crane system during the entire working process and the transportation efficiency is also improved at the same time. Finally, the effectiveness of the proposed method is verified by simulations.

show abstract

Section: Trajectory Planningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Time Optimal Trajectory Planning Method for Double-Pendulum Crane Systems With Obstacle Avoidance

Zhang

Chen

et al. 2021

IEEE Access

View full text Add to dashboard Cite

show abstract

“…The underactuated characteristics of the overhead crane make it more difficult to control. At present, some open-loop methods, such as input shaping [1][2][3] and trajectory planning [4,5], and closed-loop methods, such as sliding mode control [6][7][8], linear quadratic regulator (LQR) control [9][10][11], model predictive control [12][13][14], and proportional-integralderivative (PID) control [15][16][17], have been proposed to solve the crane's antisway control problem. The design difficulty mainly lies in how to achieve the control of the swing angle when the input dimension is smaller than the output dimension.…”

Section: Introductionmentioning

confidence: 99%

Flatness-Based Backstepping Antisway Control of Underactuated Crane Systems under Wind Disturbance

Niu

2023

Electronics

View full text Add to dashboard Cite

A control method that combines trajectory planning and backstepping is proposed for the antisway problem of underactuated overhead cranes under wind disturbance. First, a set of flat outputs is proposed so that the crane system dynamics can be represented by each order of flat outputs. Sufficient relevant constraints are given to ensure that the trolley can arrive at the desired position in a limited time under variable rope lengths, and that the swing angle can be suppressed when the payload is lifted or lowered during operation. The planned trajectory is obtained by solving for the optimal parameters of the flat output. Next, to reduce the deviation caused by wind disturbance on the actual control of the trajectory, a tracking controller is designed. Because the system output space and flat output space are differentiable homeomorphisms, the backstepping controller constructed based on the flat output can indirectly control the system output, which makes the backstepping method applicable to underactuated cranes. The simulation results show that the proposed method is effective and has strong robustness.

show abstract

“…30 and Hara and Noda 31 focus on developing an assistance system, while no motion planning or motion control method is presented. Gutierrez and Collado 32 study the obstacle-free motion planning of jib cranes, where two avoidance strategies (i.e., load elevation and surrounding obstacle) are considered to design a feasible trajectory first. The linear-quadratic regulator (LQR) controller is then applied to track the design trajectory.…”

Section: Introductionmentioning

confidence: 99%

An energy-time optimal autonomous motion control framework for overhead cranes in the presence of obstacles

Wang

Liu

Dong

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

This paper focuses on the autonomous motion control of 3-D underactuated overhead cranes in the presence of obstacles, and an “offline motion planning + online trajectory tracking” framework is developed. In the motion planner, to meet the balance between transfer time and energy consumption, the transfer mission is formulated as an energy-time hybrid optimal control problem. And a simple and conservative collision-avoidance condition is derived. To achieve fast and robust calculations, an iterative procedure that determines optimal terminal time based on the secant method is developed. Finally, to realize the high-precision trajectory tracking and fast residual sway suppression, a model predictive controller with a piecewise weighted matrix is designed. Numerical simulation demonstrates that the discussed framework is effective.

show abstract

An LQR controller in the obstacle avoidance of a two-wires hammerhead crane

Cited by 9 publications

References 21 publications

A Time Optimal Trajectory Planning Method for Double-Pendulum Crane Systems With Obstacle Avoidance

A Time Optimal Trajectory Planning Method for Double-Pendulum Crane Systems With Obstacle Avoidance

Flatness-Based Backstepping Antisway Control of Underactuated Crane Systems under Wind Disturbance

An energy-time optimal autonomous motion control framework for overhead cranes in the presence of obstacles

Contact Info

Product

Resources

About