Sway and disturbance rejection control for varying rope tower cranes suffering from friction and unknown payload mass

Abstract

Tower cranes are well-known underactuated systems, where the design of controllers for them with time-varying rope length was weak in the past because of their complex dynamic characteristic. The payload oscillation will become worse when the jib slew angle, the trolley position and the rope length are changed simultaneously. The proposed method is designed based on robust adaptive sliding mode control via tracking non-zero initial reference trajectories, in which, frictions and lumped disturbances in the crane system are eliminated, as well as unknown payload mass is effectively estimated online. Lyapunov technique is combined with LaSalle's invariance theorem to design controller and analyze stability. Various and strict simulations are applied, which validate the effectiveness and extreme robustness of the proposed method.

Adaptive nonlinear control for 4‐DOF ship‐mounted rotary cranes

“…⋅ The rope is a massless rigid rod. 8,9,12,15,16 ⋅ In practice, q 3 and q 4 satisfy the following conditions: 3,8,12,17,18…”

“…With the premise of generality, the following assumptions are reasonable in many crane‐related studies.The rope is a massless rigid rod 8,9,12,15,16 In practice, $$$ {q}_3 $$$ and $$$ {q}_4 $$$ satisfy the following conditions: 3,8,12,17,18 $$$$ -\frac{\pi }{2}<{q}_3,{q}_4<\frac{\pi }{2}. $$$$ …”

“…In practice, $$$ {q}_3 $$$ and $$$ {q}_4 $$$ satisfy the following conditions: 3,8,12,17,18 $$$$ -\frac{\pi }{2}<{q}_3,{q}_4<\frac{\pi }{2}. $$$$ …”

“…Moreover, due to the existence of the boom and disturbances of the external environment, the swing characteristics of the load are very complicated, and it may cause damage to the load and personal accidents. To solve these problems, many meaningful studies have been done by many scholars and some valuable control strategies have been proposed, including sliding mode control, 8,9 input shaping, 10,11 model predictive control, 12,13 optimal control, 14,15 adaptive control, [16][17][18] robust control, 19,20 intelligent control, 21 and so forth.…”

Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

“…Among these closed-loop control schemes, recently, the sliding mode control (SMC) has been generally used. For example, Tian et al [22] proposed an online robust adaptive SMC, estimating an unknown payload mass and eliminating its disturbances. Previously [23], an adaptive integral SMC was proposed for a tower crane with uncertainty.…”