Nested saturation control for overhead crane systems

Liu, Rongjie; Li, Shihua; Ding, Shihong

doi:10.1177/0142331211423285

Cited by 57 publications

(22 citation statements)

References 16 publications

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“…θ 1 , θ 2 and . θ 2 in Equation (15). In order to solve Symmetry 2019, 11, 1511 6 of 20 this problem and improve transient control performance, we plan to construct an energy-like storage function E d (t) with the following expression along the time derivative of the system dynamics model (1):…”

Section: Controller Designmentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

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Section: Controller Designmentioning

confidence: 99%

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Shi

et al. 2019

Symmetry

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“…To reduce the oscillatory response during the transportation process, many control techniques have been proposed in the literature, such as input shaping [8], [9], energy-based control [4], saturation control [11], sliding-mode control [12]- [14], genetic algorithm-based control [15], neural network-based control [16], fuzzy control [17], partial feedback linearizationbased control [18], and so on. Among these techniques, input shaping is essentially an open-loop control strategy, and hence, it is easy to implement and has been applied to many crane systems with great success [8], [9].…”

Section: Introductionmentioning

confidence: 99%

Minimum-Time Trajectory Planning for Underactuated Overhead Crane Systems With State and Control Constraints

Zhang

Sun

2014

IEEE Trans. Ind. Electron.

128

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In this paper, we propose a novel offline minimumtime trajectory planning (MTTP) approach for underactuated overhead cranes. To the best of our knowledge, it is the first optimal solution to the MTTP problem for overhead crane systems, which simultaneously takes into account various constraints, including the bounded swing angle for the payload, bounded velocity, acceleration, and even jerk for the trolley. Different from existing approaches, by means of system discretization and augmentation, the quasi-convex optimization technique is successfully adopted to find the minimum-time solution while satisfying all the aforementioned constraints. Extensive simulation and experiments with comparisons to previously published methods are conducted to show the superior performance of the proposed method. Note that the results derived in this paper also serve as promising guidance in engineering applications, since it provides a performance limit, namely, the possible highest efficiency for automatic or manual operation of overhead cranes. Index Terms-Minimum-time trajectory planning (MTTP), overhead cranes, underactuated systems.0278-0046

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“…Adaptive control of exponentially stable uncertain linear plants subject to input saturation was provided in [14]. The problem for compensating input saturation for non‐linear systems has received great attention in non‐linear control methods, such as using adaptive control [15, 16], sliding mode control [17, 18], nested saturation control [19, 20]. In [21], two globally stable control algorithms based on sliding mode control for robust stabilisation of spacecraft were proposed, and the responses in the presence of uncertainties were improved.…”

Section: Introductionmentioning

confidence: 99%

Mapping filtered forwarding control for non‐linear systems with input saturation

Zhang

Huang

2015

IET Control Theory & Applications

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Nested saturation control for overhead crane systems

Cited by 57 publications

References 16 publications

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Minimum-Time Trajectory Planning for Underactuated Overhead Crane Systems With State and Control Constraints

Mapping filtered forwarding control for non‐linear systems with input saturation

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