Input-shaped model reference control of a nonlinear time-varying double-pendulum crane

Fujioka, Daichi; Singhose, William

doi:10.1109/ascc.2015.7244565

Cited by 21 publications

(9 citation statements)

References 19 publications

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“…Input shaping is one of the most used open loop techniques, mostly based on a linearized system, that can be applied in real time, mainly for control of the oscillations of the payload. Anti-swing crane controls using input shaping have been widely implemented in the literature [5]- [6]. Concerning closed loop techniques, Proportional Integral Derivative (PID) control laws have been proposed for instance in [4], where the authors proposed a position control of a gantry crane system.…”

Section: Introductionmentioning

confidence: 99%

Oscillation Reduction for Knuckle Cranes

Ambrosino

Thierens²,

Dawans³

et al. 2020

Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)

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Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of the crane. Such boom cranes are commonly called knuckle boom cranes. Due to their underactuated properties, it is fairly challenging to control knuckle boom cranes. To the best of our knowledge, only a few techniques are present in the literature to control this type of cranes using approximate models of the crane. In this paper we present for the first time a complete mathematical model for this crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. One of the main challenges to control this system is how to reduce the oscillations in an effective way. In this paper we propose a nonlinear control based on energy considerations capable of guiding the crane to desired sets points while effectively reducing load oscillations. The corresponding stability and convergence analysis is proved using the LaSalle's invariance principle. Simulation results are provided to demonstrate the effectiveness and feasibility of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Oscillation Reduction for Knuckle Cranes

Ambrosino

Thierens²,

Dawans³

et al. 2020

Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)

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“…On the nonlinear spectra, optimal control based methods have been used, like model predictive control (Wu et al, 2015;Jolevski and Bego, 2015;Käpernick and Graichen, 2013;Khatamianfar and Savkin, 2014;Vukov et al, 2012;Chen et al, 2016;Smoczek and Szpytko, 2017) and the linear quadratic Gaussian predictive approach (Spathopoulos and Fragopoulos, 2004;2001;Smoczek, 2015). The other well established nonlinear methods that have been applied due to their robustness are adaptive control (Nguyen et al, 2015;Cho and Lee, 2008;Fang et al, 2012;Sun et al, 2014;Yang and Shen, 2011;Tar et al, 2010;Fujioka and Singhose, 2015a;Fujioka et al, 2015;Lee et al, 2013) and sliding mode control.…”

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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“…In recent years, a lot of attention has focused on underactuated overhead crane systems, and many useful and constructive results have been obtained (Chen et al, 2016; Lee et al, 2015; Park et al, 2008; Sun et al 2018a; Zhang et al, 2016). Roughly speaking, control methods for overhead crane systems can be sorted as open-loop control methods (Blackbum et al, 2010; Blajer and Kolodziejczyk, 2007; Fujioka and Singhose, 2015; Garrido et al 2008; Maghsoudi et al, 2016; Naidu, 2003; Singhose, 2009; Sun et al, 2018b; Wu and Xia, 2014; Zhang et al, 2016a) and closed-loop ones (Chwa, 2009; Fang et al, 2003, 2012; Huang et al, 2015; Le et al, 2012; Leban et al, 2015; Smoczek, 2014; Solihin et al, 2010; Sun and Fang, 2014; Sun et al, 2014; Van den Broeck et al, 2011; Wu et al, 2016; Zhao and Gao, 2012; Zhang et al, 2016b; Zhang et al, 2018). Specifically, for open-loop control methods, by analyzing the coupling relationship between the actuated trolley translation and the unactuated payload swing, the commands can be predefined; some representative open-loop control method are input shaping (Blackbum et al, 2010; Fujioka and Singhose, 2015; Garrido et al, 2008; Singhose, 2009), optimal control (Maghsoudi et al, 2016; Naidu, 2003; Wu and Xia, 2014), trajectory planning (Blajer and Kolodziejczyk, 2007; Sun et al, 2012; Sun et al, 2018c; Zhang et al, 2016a), differential flatness-based control (Zhang et al, 2017), and so forth.…”

Section: Introductionmentioning

confidence: 99%

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

Zhang

2019

Transactions of the Institute of Measurement and Control

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The payload mass and the cable length are always different/uncertain for various transportation tasks and external disturbances that accompany industrial overhead crane systems. In addition, existing control methods can obtain merely asymptotic results. To solve the aforementioned problems, an accurate model-free trajectory tracking controller subject to finite time convergence for overhead crane systems is proposed based on the suitably defined non-singular terminal sliding vector. Moreover, the proposed controller is absolutely continuous, addressing the limitations and shortcomings of the traditional sliding mode control. Lyapunov techniques are used to prove that the proposed controller guarantees finite-time tracking result and the finite time T is calculated. Simulation and experimental results are included to demonstrate the robustness of the proposed controller with respect to model uncertainties, parameter variations and external disturbances.

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Input-shaped model reference control of a nonlinear time-varying double-pendulum crane

Cited by 21 publications

References 19 publications

Oscillation Reduction for Knuckle Cranes

Oscillation Reduction for Knuckle Cranes

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

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

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