Design of a parallel distributed fuzzy LQR controller for double-pendulum-type overhead cranes

Adeli, Mahdieh; Zarabadi, Seyedeh Hamideh; Zarabadipour, Hassan; Shoorehdeli, Mahdi Aliyari

doi:10.1109/iccsce.2011.6190497

Cited by 5 publications

(3 citation statements)

References 17 publications

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“…Others widely used linear techniques are the ones based on the linear quadratic regulator LQR (Kim et al, 2011) and linear matrix inequalities (Sano et al, 2011). The LQR method has also been used in conjunction with genetic algorithms (Adeli et al, 2011).…”

Section: Introductionmentioning

confidence: 99%

A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

Aguilar-Ibáñez

Suárez-Castañón

2019

International Journal of Applied Mathematics and Computer Science

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We introduce a control strategy to solve the regulation control problem, from the perspective of trajectory planning, for an uncertain 3D overhead crane. The proposed solution was developed based on an adaptive control approach that takes advantage of the passivity properties found in this kind of systems. We use a trajectory planning approach to preserve the accelerations and velocities inside of realistic ranges, to maintaining the payload movements as close as possible to the origin. To this end, we carefully chose a suitable S-curve based on the Bezier spline, which allows us to efficiently handle the load translation problem, considerably reducing the load oscillations. To perform the convergence analysis, we applied the traditional Lyapunov theory, together with Barbalat’s lemma. We assess the effectiveness of our control strategy with convincing numerical simulations.

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Section: Introductionmentioning

confidence: 99%

A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

Aguilar-Ibáñez

Suárez-Castañón

2019

International Journal of Applied Mathematics and Computer Science

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“…Some researchers have presented several methods to attack the issue, i.e., decoupling control [14], passivity-based control [15], wave-based control [16], hierarchical sliding mode control [17,18], input shaping control [12,13,[19][20][21][22][23], neuralnetwork-based intelligent control [24], e ct. The methods can roughly be divided into two categories according to the type of control structure, i.e., feedback control [14][15][16][17][18]24] or feedforward control [12,13,[19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

“…The methods can roughly be divided into two categories according to the type of control structure, i.e., feedback control [14][15][16][17][18]24] or feedforward control [12,13,[19][20][21][22][23]. Any method has both merits and drawbacks.…”

Section: Introductionmentioning

confidence: 99%

Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

Qian¹,

Yang²,

Lee³

2015

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. Overhead cranes are extensively employed but their performance suffers from the natural sway of payloads. Sometime, the sway exhibits double-pendulum motions. To suppress the motions, this paper investigates the design of simultaneous input-shaping-based fuzzy control for double-pendulum-type overhead cranes. The fuzzy control method is based on the single input-rule modules (SIRMs). Provided the all the system variables are measurable, the SIRMs fuzzy controller is designed at first. To improve the performance of the fuzzy controller, the simultaneous input shaper is adopted to shape the control command generated by the fuzzy controller. Compared with other two control methods, i.e., the SIRMs fuzzy control and the convolved input-shaping-based SIRMs fuzzy control, simulation results illustrate the feasibility, validity and robustness of the presented control method for the anti-swing control problem of double-pendulum-type overhead cranes.

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Introduction

Qian¹,

Yi²

2015

Hierarchical Sliding Mode Control for Under-Actuated Cranes

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Design of a parallel distributed fuzzy LQR controller for double-pendulum-type overhead cranes

Cited by 5 publications

References 17 publications

A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

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