Double-loop control with proportional-integral and partial feedback linearization for a 3D gantry crane

Dong, Hoang Quoc; Lee, Soon-Geul; Pham, Dinh Ba

doi:10.23919/iccas.2017.8204411

Cited by 9 publications

(2 citation statements)

References 14 publications

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“…To control the established underactuated dynamic system (Bessa et al, 2019), numerous studies with different methods have been successfully applied. These methods involve classical linear approaches such as proportional integral derivative (PID) control (Dong et al, 2017;Hoang et al, 2015;Miao et al, 2019), linear quadratic regulator control, and energy-based control (Cornejo and Alvarez-Icaza, 2011). Input shaping (Izadbakhsh and Kheirkhahan, 2018) has been widely used to eliminate system vibrations because of its simplicity and effectiveness.…”

Section: Introductionmentioning

confidence: 99%

Combined feedback linearization and sliding mode control for vibration suppression of a robotic excavator on an elastic foundation

Hoang

Park

Lee

2020

Journal of Vibration and Control

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Hydraulic crawler excavators have been widely used for construction in industry, mining, and agriculture because of their special ability to work on weak soil support. However, the elastic properties of the ground increase the undesired vibrations of the entire operating machine. These oscillations significantly influence the working productivity, the level of fuel expenditure, and the comfort of the driver. There have been many works addressing this problem, although they mainly focus on mechanical dampers. Considering the system from robotic and control aspects, this study presents a new approach to deal with the abovementioned problem. A controller design, which uses a combination of feedback linearization and sliding mode control, is proposed based on a dynamic model. This control law reduces the vibrations of the system working on an elastic foundation, while also allowing for accurate tracking performance of the links. This control law is applied to a small-scale platform to investigate its feasibility for practical applications.

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Section: Introductionmentioning

confidence: 99%

Combined feedback linearization and sliding mode control for vibration suppression of a robotic excavator on an elastic foundation

Hoang

Park

Lee

2020

Journal of Vibration and Control

Self Cite

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“…A modified composite nonlinear feedback strategy has been proposed to improve the transient performance and eliminate the steady-state errors in path-following control considering the tire force saturations [9]. To simplify the controller design, partial feedback linearization operations were used in [10][11][12]. As the solution to the existence of uncertainties in the crane system, an adaptive control method was proposed in [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

Bao

2018

Applied Sciences

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The payload swing of an overhead crane needs to be controlled properly to improve efficiency and avoid accidents. However, the swing angle is usually very difficult to control to zero degrees or for it to even remain within an acceptable range because the overhead crane is a complex nonlinear underactuated system, especially when the actual working environment is accompanied by strong disturbances and great uncertainty. To resolve this, a real-time anti-swing closed-loop control strategy is proposed that considers external disturbances. The swing angle is measured in time and it functions with the load displacement as feedback inputs of the closed-loop system. The nonlinear model of the crane is simplified by a linear system with virtual disturbances, which are estimated by the equivalent input disturbance (EID) method. Both simulation and experimental results for a 2-D overhead crane system are investigated to illustrate the validity of the proposed method.

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Auto-balancing Ballbot Systems: A Fractional-Order Sliding Mode Based Radial-Basis Neural Network Approach

Pham

Giang

et al. 2022

Lecture Notes in Networks and Systems

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Double-loop control with proportional-integral and partial feedback linearization for a 3D gantry crane

Cited by 9 publications

References 14 publications

Combined feedback linearization and sliding mode control for vibration suppression of a robotic excavator on an elastic foundation

Combined feedback linearization and sliding mode control for vibration suppression of a robotic excavator on an elastic foundation

An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes

Auto-balancing Ballbot Systems: A Fractional-Order Sliding Mode Based Radial-Basis Neural Network Approach

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