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As an efficient transportation tool, the tower crane is widely used in construction production. To improve the working efficiency, some automatic control methods have been proposed for the tower crane system, including some open loop methods, like input shaping methods, trajectory planning methods, and so on. However, generally, tower cranes usually work in outdoor environment, which are sensitive...
For underactuated overhead cranes, this paper designs a novel sliding mode control method. Specifically, similar to the idea of backstepping method, the overall dynamic system is divided into two cascaded subsystems; thus the control algorithm consists of two steps. At first, the payload swing angle is kept in a bounded area by tracking a target trajectory. Second, the positioning error is indirectly...
Compared with fully actuated systems, underactuated systems present such advantages as simpler structure, broader applications, and so on. Yet, the control of this kind of system proves to be a very challenging problem since the number of control inputs is less than that of the degrees of freedom, which thus attracts much attention from the control community during the past two decades. This paper...
In the present paper, we suggest a novel robust control strategy for the control problem of double pendulum crane systems. More precisely, we first derive a reduced crane model that can well depict the original double pendulum dynamics. After that, a super-twisting-based nonlinear control law is presented, which can make the crane follow preset trajectories and eliminate the double pendulum swing...
In this paper, we present a novel time-optimal off-line trajectory planning method with an analytical expression for 2-dimensional (2-D) underactuated overhead cranes. Different from existing methods that analyze the coupling behavior directly, a flat output of this system is constructed to deal with the coupling between the payload swing and trolley motion, based on the differential flatness theory...
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