Time-optimal control of cranes subject to container height constraints

Barbosa, Filipe Marques; Löfberg, Johan

doi:10.23919/acc53348.2022.9867816

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…Part of the development process has therefore been devoted to formulating and supervising master's thesis work as a systematic approach to developing a philosophy about the problem-solving process and how it can be supported by tools. Another contributing factor in the development process is national and international peers that have used and evaluated Yop, and the software is cited in the following works [26,[61][62][63][64][65][66][67], excluding works by the author.…”

Section: Goals and Developmentmentioning

confidence: 99%

Optimal Control for Energy Efficient Vehicle Propulsion : Methodology, Application, and Tools

Leek

2022

Linköping Studies in Science and Technology. Dissertations

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Section: Goals and Developmentmentioning

confidence: 99%

Optimal Control for Energy Efficient Vehicle Propulsion : Methodology, Application, and Tools

Leek

2022

Linköping Studies in Science and Technology. Dissertations

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“…As a result, more advanced control strategies have been proposed, primarily based on nonlinear dynamic models created for overhead cranes, including the application of adaptive control [8] and model-free control techniques based on fuzzy logic [9][10][11]. Other methods, including the neural network predictive control method [12] and time-optimal control [13], have been used successfully to create anti-sway trolley paths based on studying the crane system's natural frequency.…”

Section: Introductionmentioning

confidence: 99%

An improved approach for model predictive control in 3-D overhead crane systems

2023

jsthaui

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The Model Predictive Control (MPC) for the 3-D overhead crane (3DOC) system is the main subject of this paper. The crane's underactuated system necessitates a complex controller design. In this paper, the MPC was used to handle the problem of automatic load transportation. With this method, the system can meet many complicated requirements due to the high nonlinear dynamics of overhead cranes, such as anti-vibration, accurate position, and satisfy dynamics constraints in real life. According to the results of our tests, MPC is successfully applied to cranes and many transportation systems similarly.

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A Time-Varying PD Sliding Mode Control Method for the Container Crane Based on a Radial-Spring Damper

Wang

Zhou

et al. 2022

Electronics

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For the multi-rope structure of the container crane system and its large mass payload anti-swing positioning problem, an equivalent double-swing model based on radial spring-dampers is established and a time-varying PD sliding mode controller (TVPD-SMC) with improved transient performance is proposed. In particular, the dynamics of the container crane system are first analyzed using the Lagrange method, and an equivalent double pendulum dynamics model of the crane is established. Compared with the traditional double pendulum model, this model ensures the accuracy of modeling without measuring the second pendulum angle. On this basis, an enhanced coupled time-varying sliding mode control method is designed to eliminate the sliding mode control method’s reaching phase and improves the robustness of the controller. Finally, the convergence and stability of the closed-loop system are proved using the Lyapunov technique and the Lasalle invariance theorem, and the simulation results demonstrate the effectiveness of the method.

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Time-optimal control of cranes subject to container height constraints

Cited by 3 publications

References 13 publications

Optimal Control for Energy Efficient Vehicle Propulsion : Methodology, Application, and Tools

Optimal Control for Energy Efficient Vehicle Propulsion : Methodology, Application, and Tools

An improved approach for model predictive control in 3-D overhead crane systems

A Time-Varying PD Sliding Mode Control Method for the Container Crane Based on a Radial-Spring Damper

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