Finite-time model-free trajectory tracking control for overhead cranes subject to model uncertainties, parameter variations and external disturbances

Zhang, Menghua

doi:10.1177/0142331219830157

Cited by 35 publications

(23 citation statements)

References 42 publications

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“…In the past few decades, in order to achieve the dual goals of trolley positioning and load elimination, more and more scholars are devoted to this subject and a series of anti‐sway positioning control methods have been come up with. For instance, input shaping method, 2‐7 model predictive control, 8‐10 trajectory planning method, 11‐13 robust control, 14‐16 adaptive control, 17‐19 and so on. However, most control methods are proposed for two‐dimensional overhead cranes systems and 3D overhead cranes with single pendulum effect.…”

Section: Introductionmentioning

confidence: 99%

Swing reduction for double‐pendulum three‐dimensional overhead cranes using energy‐analysis‐based control method

Ouyang

Zhao

Zhang

2021

Intl J Robust & Nonlinear

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In practical applications, when the mass of the hook cannot be ignored or the shape of the payload is irregular, the crane often exhibits the dynamic characteristics of double‐pendulum. Due to the complexity of double‐pendulum effect, the design of a controller for an three‐dimensional overhead crane with double‐pendulum effect is more complicated and more challenging. In addition, it is difficult to obtain satisfactory control performance due to the uncertainty of the parameters of the crane system. Moreover, the saturation constraint of the actuator is not considered, which may cause the actuator to saturate and severely degrade the control performance. Aiming at these practical problems, we propose a nonlinear controller based on energy analysis for the three‐dimensional overhead cranes system with double‐pendulum effect, while considering the saturation constraints of the actuator. Meanwhile, the asymptotic stability of the closed‐loop system is not only guaranteed. The comparative simulation and experimental results demonstrate the effectiveness of the proposed controller in trolley positioning and swing angles eliminating.

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Section: Introductionmentioning

confidence: 99%

Swing reduction for double‐pendulum three‐dimensional overhead cranes using energy‐analysis‐based control method

Ouyang

Zhao

Zhang

2021

Intl J Robust & Nonlinear

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“…The dynamic characteristics is adopted to suppress the payload oscillation in open-loop anti-sway. The theoretical research and application of open-loop anti-sway represented by input shaping (Abdullahi et al, 2016;Alshaya and Almujarrab, 2020;Maghsoudi et al, 2016b;Maghsoudi et al, 2019) and trajectory planning (Wu et al, 2018;Zhang, 2019) are relatively mature in the research of anti-sway control methods of bridge cranes. Liu and Cheng (2018) propose a path planning method to limit bridge cranes payload oscillation by using Bezier curve and particle swarm optimization algorithm (PSO-BC).…”

Section: Introductionmentioning

confidence: 99%

A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

Xia

Wang

et al. 2021

Transactions of the Institute of Measurement and Control

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In the assembly workshops of some heavy special equipment, the bridge cranes for payload lifting often needs to be located frequently. However, the locating position is often determined by the operator, which is random and results in significant payload oscillation and difficulties in trolley positioning. Furthermore, in practice, the bridge crane always exhibits more complicated double-pendulum dynamics compared with single-pendulum crane. To solve these problems, this paper establishes the double-pendulum model of bridge crane. Derived from the proportional-derivative (PD) control, the single closed-loop is designed based on the hook oscillation during acceleration and transporting; when locating, the double closed-loop is presented by utilizing the position and the hook oscillation. Combining the two control methods, a single and double closed-loop compound anti-sway control (SDCAC) method for the bridge crane is proposed. On this basis, to improve the performance of the SDCAC system, the sequential quadratic optimization (SQP) method is adopted to optimize PD parameters. Besides, a novel bumpless transfer control method is proposed to realize the smooth transition between the two control modes. Finally, the simulations and experiments are conducted. The results demonstrate the effectiveness of the proposed method.

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“…This kind of load sway will not only reduce the work efficiency but also cause accident and injury. 1 To solve this problem, many scholars have done a lot of researches and put forward many effective methods including input shaping method, 2-6 optimal control, 7-11 model predictive control, 12,13 adaptive control, [14][15][16][17] sliding mode control, [18][19][20][21] Lyapunov-based control, [22][23][24][25][26][27][28][29][30][31][32][33][34][35] robust control, 36,37 and so on. However, when the load shape is irregular or the mass of the hook cannot be neglected, the sway will present a more complex double-pendulum load sway phenomenon, which makes it difficult for traditional control methods to obtain satisfactory control performance.…”

Section: Introductionmentioning

confidence: 99%

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

Ouyang

Zhang

2019

Intl J Robust & Nonlinear

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Summary Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations.

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Finite-time model-free trajectory tracking control for overhead cranes subject to model uncertainties, parameter variations and external disturbances

Cited by 35 publications

References 42 publications

Swing reduction for double‐pendulum three‐dimensional overhead cranes using energy‐analysis‐based control method

Swing reduction for double‐pendulum three‐dimensional overhead cranes using energy‐analysis‐based control method

A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

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