Trajectory Tracking for Boom Cranes Based on Nonlinear Control and Optimal Trajectory Generation

Abstract

Bibliografische Information der Deutschen Bibliothek © Technische Universität Ilmenau (Thür.) 2007Diese Publikationen und alle in ihr enthaltenen Beiträge und Abbildungen sind urheberrechtlich geschützt. Mit Ausnahme der gesetzlich zugelassenen Fälle ist eine Verwertung ohne Einwilligung der Redaktion strafbar. PrefaceDear Participants,Confronted with the ever-increasing complexity of technical processes and the growing demands on their efficiency, security and flexibility, the scientific world needs to establish new methods of engineering design and new methods of systems operation. The factors likely to affect the design of the smart systems of the future will doubtless include the following:• As computational costs decrease, it will be possible to apply more complex algorithms, even in real time. These algorithms will take into account system nonlinearities or provide online optimisation of the system's performance.• New fields of application will be addressed. Interest is now being expressed, beyond that in "classical" technical systems and processes, in environmental systems or medical and bioengineering applications.• The boundaries between software and hardware design are being eroded. New design methods will include co-design of software and hardware and even of sensor and actuator components.• Automation will not only replace human operators but will assist, support and supervise humans so that their work is safe and even more effective.• Networked systems or swarms will be crucial, requiring improvement of the communication within them and study of how their behaviour can be made globally consistent.• The issues of security and safety, not only during the operation of systems but also in the course of their design, will continue to increase in importance.The title "Computer Science meets Automation", borne by the 52 nd International Scientific Colloquium (IWK) at the Technische Universität Ilmenau, Germany, expresses the desire of scientists and engineers to rise to these challenges, cooperating closely on innovative methods in the two disciplines of computer science and automation.The IWK has a long tradition going back as far as 1953. In the years before 1989, a major function of the colloquium was to bring together scientists from both sides of the Iron Curtain. Naturally, bonds were also deepened between the countries from the East. Today, the objective of the colloquium is still to bring researchers together. They come from the eastern and western member states of the European Union, and, indeed, from all over the world. All who wish to share their ideas on the points where "Computer Science meets Automation" are addressed by this colloquium at the Technische Universität Ilmenau.All the University's Faculties have joined forces to ensure that nothing is left out. Control engineering, information science, cybernetics, communication technology and systems engineering -for all of these and their applications (ranging from biological systems to heavy engineering), the issues are being covered.Together...

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“…These methods can be divided into two categories: open‐loop control and closed‐loop control. Due to lack of feedback, open‐loop control methods including input shaping methods (Huang et al, 2013; La & Nguyen, 2019) and traditional trajectory planning control method (Arnold et al, 2007; Schaper et al, 2013; Uchiyama et al, 2013; Yang et al, 2019) are less robust to external disturbance, such as wind disturbance and viscous damping force. Closed‐loop control methods, such as intelligent control (Ahmad et al, 2011; Duong et al, 2010), adaptive control (Sun et al, 2019), sliding mode control (Ho & Terashima, 2019; Tuan, 2019; Tho et al, 2017) and stabilization/regulation control (Sun et al, 2018) have been proposed for rotary crane to improve robustness to external disturbances and system parametric uncertainties.…”