Nonlinear control of an overhead crane via the saturating control approach of Teel

Burg, Timothy C.; Dawson, D.M.; Rahn, Christopher D.; Rhodes, W.G.

doi:10.1109/robot.1996.509192

Cited by 39 publications

(24 citation statements)

References 21 publications

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“…In a similar manner as in [1] and [8], we assume that the dynamic model given in (1) has the following characteristics.…”

Section: Dynamic Modelmentioning

confidence: 99%

“…For example in [24], Teel utilized saturation functions to develop an output feedback controller which achieves a robust, semi-global stability result for the ball-and-beam control problem. In [1], Burg et al transformed the nonlinear crane dynamics into a structure that resembled the ball-and-beam problem and then adopted the research efforts of [24] to achieve asymptotic positioning from a large set of initial conditions. More recently, Fantoni et al [8] and Lozano et al [17] proposed passivity-based controllers for the inverted pendulum and the pendubot (i.e., an inverted pendulum-like robot with an unactuated second link) based on the paradigm of driving the underactuated system to a homoclinic orbit using an energy-based nonlinear controller and then switching to a linear controller to stabilize the system around its unstable equilibrium point.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear coupling control laws for an underactuated overhead crane system

Fang

Dixon

Dawson

et al. 2003

IEEE/ASME Trans. Mechatron.

291

169

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, "Current sensor-based feed cutting force intelligent estimation and tool wear condition monitoring," IEEE Trans. Ind. Electron., vol. 47, pp. 697-702, July 2000. [9] X. Li, "On-line detection of the breakage of small diameter drills using current signature wavelet transform," Int. J. Mach. Tools, Manuf., vol. 39, no. 1, pp. 157-164, 1999 Abstract-In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivitybased controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle's invariant set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then present two nonlinear controllers that increase the coupling between the planar gantry position and the payload angle. Experimental results are provided to illustrate the improved performance of the nonlinear controllers over the simple PD controller.

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“…In a similar manner as in [1] and [8], we assume that the dynamic model given in (1) has the following characteristics.…”

Section: Dynamic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Nonlinear coupling control laws for an underactuated overhead crane system

Fang

Dixon

Dawson

et al. 2003

IEEE/ASME Trans. Mechatron.

291

169

View full text Add to dashboard Cite

show abstract

“…References [29][30][31] perform partial feedback linearisation operations to the crane model, as a means to simplify the complex dynamic equations, and then design anti-swing controllers for the reduced model. After a series of coordinate transformations, non-linear saturation methods are applied to the crane system and shown to be effective [32,33]. In view of the passivity nature, some researchers have also developed energy/passivity-based control approaches [34][35][36][37].…”

Section: Introductionmentioning

confidence: 99%

An enhanced coupling nonlinear control method for bridge cranes

Sun

Fang

2014

IET Control Theory & Applications

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The present study suggests an enhanced coupling non-linear control approach for both cart positioning and load swing elimination control of underactuated bridge cranes. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different/uncertain cable lengths that are the major factor influencing load swing. Owing to the underactuated nature, the load swing can merely be damped out by the cart motion. Inspired by this inherent mechanism and also motivated by the desire to achieve an improved control performance, we enhance the coupling behaviour between the cart movement and the load swing by introducing a new composite signal, and on this basis, propose a non-linear control law. Lyapunov-based mathematical analysis is implemented to support the theoretical derivations. To verify its control performance, both numerical simulation and hardware experiment results are included to illustrate that the proposed method can achieve superior control results and admit strong robustness with respect to different/uncertain cable lengths and external disturbances.

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“…This novel idea is soon adopted to solve the problem of global stabilization for many complex systems. A controller for the crane model is developed by Burg et al (1996) by the nested saturation technique. A nonlinear controller has been presented by Aguilar Iban´ez and Gutie´rrez Frias (2008) for the stabilization of the inverted pendulum mounted on a cart by using the nested saturation control technique.…”

Section: Introductionmentioning

confidence: 99%

Nested saturation control for overhead crane systems

Liu

Ding

2011

Transactions of the Institute of Measurement and Control

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This paper presents a new control strategy for overhead crane systems. First, by utilizing a coordinate change, the underactuated overhead crane dynamical model can be transformed into an upper-triangular form. Second, a finite-time controller is designed based on the nonlinear nested saturation and adding a power integrator technique. Rigorous proof shows that the controller can guarantee finite-time stability of the closed-loop system. Simulations show the effectiveness of the proposed method.

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Nonlinear control of an overhead crane via the saturating control approach of Teel

Cited by 39 publications

References 21 publications

Nonlinear coupling control laws for an underactuated overhead crane system

Nonlinear coupling control laws for an underactuated overhead crane system

An enhanced coupling nonlinear control method for bridge cranes

Nested saturation control for overhead crane systems

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