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In this paper, a novel sliding-mode-like nonlinear controller is proposed for overhead cranes, which successfully addresses the problem of simultaneously regulating the trolley position and eliminating the payload swing. To be specific, we first transform the original crane model into a quasi-linear form without making any approximations. An elaborately designed manifold is introduced subsequently...
In practice, overhead cranes often suffer from uncertain system parameters such as the payload mass and friction-related coefficients. These uncertainties may seriously degrade the performance of corresponding controllers. Multi-rope cranes may encounter such problem as well. To solve this problem, we develop an adaptive trajectory tracking controller for a four-rope crane in this paper. The proposed...
In real-world applications, cranes usually suffer from parametric uncertainties, such as unknown friction, cart mass, load mass, and wire length. Moreover, existing crane control methods cannot guarantee the motion scope of the cart, since merely asymptotic results, at best, can be obtained due to the underactuated nature. Due to unexpected overshoots, existing methods, if not well tuned, may drive...
In this paper, a novel anti-swing controller is proposed for 3-dimensional (3-D) overhead cranes, which ensures fast transportation and efficient swing suppression during the regulation control process. Specifically, to increase the performance of the payload swing suppression, a swing-suppressing element is introduced, based on which a novel error signal is constructed. Then, a new control method...
This paper presents a novel nonlinear control approach for underactuated overhead crane systems, which guarantees both fast trolley positioning and sufficient payload swing eliminating performances. The controller is applicable to both regulation control and trajectory tracking control. Via the utilization of a payload position-like signal, the nonlinear coupling behavior between the actuated trolley...
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