The Experts below are selected from a list of 4146 Experts worldwide ranked by ideXlab platform
William Singhose - One of the best experts on this subject based on the ideXlab platform.
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Combined input shaping and feedback control for Double-Pendulum systems
Mechanical Systems and Signal Processing, 2017Co-Authors: Robert Mar, Tianle Yang, Vinh Nguyen, Anurag Goyal, William SinghoseAbstract:A control system combining input shaping and feedback is developed for Double-Pendulum systems subjected to external disturbances. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections during the motion of the system, and disturbance-induced residual swing using the feedback control. Effects of parameter variations such as the mass ratio of the Double Pendulum, the suspension length ratio, and the move distance were studied via numerical simulation. The most important results were also verified with experiments on a small-scale crane. The controller effectively suppresses the disturbances and is robust to modelling uncertainties and task variations.
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input shaped model reference control of a nonlinear time varying Double Pendulum crane
Asian Control Conference, 2015Co-Authors: Daichi Fujioka, William SinghoseAbstract:This paper investigates the performance of input-shaped model reference control on a time-varying Double-Pendulum using a linear single-Pendulum reference model. The single- and Double-Pendulum crane dynamics are presented. An input-shaped model reference control scheme is then developed. The robustness of the controller is enhanced to handle both parameter variations and the system order difference between the reference model and the plant. The natural frequencies of the Double-Pendulum crane are calculated and utilized to design a two-mode specified insensitivity input shaper. A Lyapunov control law using only the first mode states of the plant is derived. The state tracking, oscillation suppression, and control effort reduction performances of the proposed controller is tested via numerical simulations and experiments.
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robustness analysis of input shaped model reference control on a Double Pendulum crane
Advances in Computing and Communications, 2015Co-Authors: Daichi Fujioka, Manan Shah, William SinghoseAbstract:This paper analyzes the robustness of input-shaped model reference control when applied to a Double-Pendulum crane using a linear single-Pendulum crane as the reference model. The single- and Double-Pendulum crane dynamics are derived and then used to develop the input-shaped model reference control scheme. The robustness of the controller is enhanced to handle both parameter variations and the system order difference between the reference model and the plant. The natural frequencies of the cranes are calculated and utilized to design a three-mode zero-vibration input shaper. A Lyapunov control law using only the states associated with the first mode is derived. The robustness of the proposed controller in state tracking and oscillation suppression performances are analyzed and verified via numerical simulations and experiments. The controller has good robustness to the parameter estimation errors and the fundamental system order difference between the reference model and the plant.
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Swing Dynamics and Input-Shaping Control of Human-Operated Double-Pendulum Boom Cranes
Journal of Computational and Nonlinear Dynamics, 2012Co-Authors: Erfan Maleki, William SinghoseAbstract:Boom cranes are used for numerous material-handling and manufacturing processes in factories, shipyards, and construction sites. All cranes lift their payloads by hoisting them up using overhead suspension cables. Boom cranes move payloads by slewing their base about a vertical axis, luffing their boom in and out from the base, and changing the length of the suspension cable. These motions induce payload oscillation. The problem of payload oscillation becomes more challenging when the payload exhibits Double-Pendulum dynamics that produce two varying frequencies of oscillation. This paper studies the swing dynamics of such cranes. It also applies input shaping to reduce the two-mode oscillatory dynamics. Experiments confirm several of the interesting dynamic effects. {[}DOI: 10.1115/1.4005933]
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Performance studies of human operators driving Double-Pendulum bridge cranes
Control Engineering Practice, 2010Co-Authors: Dooroo Kim, William SinghoseAbstract:Oscillation of crane payloads makes it challenging to manipulate payloads quickly, accurately, and safely. The problem is compounded when the payload creates a Double-Pendulum effect. This paper evaluates an input-shaping control method for reducing Double-Pendulum oscillations. Human operator performance testing on a 10-ton industrial bridge crane is used to verify the effectiveness and robustness of the method. Fifty operators drove the crane with a standard control pendent, as well as a wireless touchscreen interface. Data from these experiments show that human operators drive the crane much faster and safer with the input-shaping control scheme. Furthermore, considerably less operator effort is required when input shaping is used to limit the oscillation. Additional tests required the operators to drive the crane numerous times over a period of eight days. These experiments show that significant learning occurred when operators did not have the aid of input shaping. However, the performance never approached that achieved by untrained operators using input shaping. © 2010.
Hazriq Izzuan Jaafar - One of the best experts on this subject based on the ideXlab platform.
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efficient control of a nonlinear Double Pendulum overhead crane with sensorless payload motion using an improved pso tuned pid controller
Journal of Vibration and Control, 2019Co-Authors: Hazriq Izzuan Jaafar, Z Mohamed, N Mohd A Subha, Abdul Rashid Husain, Fatimah Sham Ismail, Liyana Ramli, M O Tokhi, Mohamad Amir ShamsudinAbstract:This paper proposes an efficient PID control of a highly nonlinear Double-Pendulum overhead crane without the need for a payload motion feedback signal. Optimal parameters of the PID controllers are tuned by using an improved particle swarm optimisation (PSO) algorithm based on vertical distance oscillations and potential energy of the crane. In contrast to a commonly used PSO algorithm based on a horizontal distance, the approach resulted in an efficient performance with a less complex controller. To test the effectiveness of the approach, extensive simulations are carried out under various crane operating conditions involving different payload masses and cable lengths. Simulation results show that the proposed controller is superior with a better trolley position response, and lower hook and payload oscillations as compared to the previously developed PSO-tuned PID controller. In addition, the controller provides a satisfactory performance without the need for a payload motion feedback signal.
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model reference command shaping for vibration control of multimode flexible systems with application to a Double Pendulum overhead crane
Mechanical Systems and Signal Processing, 2019Co-Authors: Hazriq Izzuan Jaafar, Z Mohamed, N Mohd A Subha, Liyana Ramli, Mohamad Amir Shamsudin, Auwalu M AbdullahiAbstract:Abstract This paper proposes a Model Reference Command Shaping (MRCS) approach for an effective vibration and oscillation control of multimode flexible systems. The proposed MRCS is designed based on a reference model and avoids the need for measurement or estimation of several modes of frequency and damping ratio as in the case of other input shaping and command shaping approaches. To test the effectiveness and robustness, the designed MRCS is implemented for oscillation control of a Double-Pendulum overhead crane. Simulations on a nonlinear crane model and experiments using a laboratory overhead crane are carried out under two cases, without and with payload hoisting. Without a prior knowledge of the system frequency and damping ratio, the MRCS is shown to provide the highest reductions in the overall hook and payload oscillations when compared to the multimode Zero Vibration and Zero Vibration Derivative shapers designed based on the Average Travel Length approach. In addition, the MRCS is more robust towards changes in the frequency during payload hoisting and changes in the payload mass. It is envisaged that the proposed method can be useful in designing effective vibration control of multimode flexible systems.
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pso tuned pid controller for a nonlinear Double Pendulum crane system
Asian Simulation Conference, 2017Co-Authors: Hazriq Izzuan Jaafar, Z MohamedAbstract:This paper proposes an efficient PID controller for control of a Double-Pendulum crane system. Two different fitness functions of a particle swarm optimization (PSO) algorithm are used for the purpose of designing a controller. An accurate positioning with minimum hook and payload oscillations are tested with or without considering the parameters of the payload into the fitness function based on the horizontal distance sways of the crane. To test the effectiveness of the both approaches, extensive simulations are carried out under various crane operating conditions involving different payload masses. Their performances are examined based on the trolley positioning response and hook and payload oscillations reductions. Reductions of mean squared error (MSE) in the oscillations with a better trolley positioning response is obtained. It is envisaged that the appropriate fitness function can be very useful for determining satisfactory responses for Double-Pendulum crane system.
Yongchun Fang - One of the best experts on this subject based on the ideXlab platform.
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a novel nonlinear control scheme for Double Pendulum quadrotor transportation systems
International Conference on Advanced Intelligent Mechatronics, 2019Co-Authors: Xiao Liang, Yongchun Fang, Peng Zhang, He Lin, Xingang ZhaoAbstract:Quadrotor transportation systems are capable of transferring necessary relief supplies in emergency tasks. In practice, the nonnegligible hook and the payload’s scale make the system exhibits Double-Pendulum swing dynamics, which bring great challenges to controller design and stability analysis. To realize rapid swing suppression and efficient quadrotor positioning, a nonlinear controller is designed. Specifically, a composite signal is constructed. The closed-loop asymptotic stability analysis and simulation results are provided to verify the effectiveness of the control scheme.
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transportation control of Double Pendulum cranes with a nonlinear quasi pid scheme design and experiments
Systems Man and Cybernetics, 2019Co-Authors: Ning Sun, Yongchun Fang, Yiming Wu, Tong Yang, He ChenAbstract:In real-world applications, industrial cranes commonly suffer from effects caused by the so-called Double-Pendulum phenomenon in many situations. However, at present, the Double-Pendulum phenomenon is usually directly roughly neglected when designing control methods. For Double-Pendulum cranes, most currently available approaches are open loop control; the existing feedback methods are mostly developed based on linearized dynamic models (around the equilibrium point) or designed without adding integral terms in the control laws, which may cause positioning errors in the presence of unmodeled dynamics. To address these problems, this paper proposes a new quasi-proportional integral derivative control method to effectively control underactuated Double-Pendulum crane systems. Then, we provide rigorous theoretical analysis for the equilibrium point of the closed-loop system based on the original nonlinear dynamic equations. To our knowledge, this paper gives the first plant-parameter-free controller that incorporates both integral action and actuating constraints without any linearizing operations during controller design or closed-loop analysis, which theoretically ensures that the controller can work well in the presence of unmodeled dynamics (e.g., insufficient friction compensation), actuating constraints, and large swing angles (i.e., not satisfying linearization conditions). Finally, hardware experimental results are provided to examine the effectiveness of the suggested control method.
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enhanced coupling adaptive control for Double Pendulum overhead cranes with payload hoisting and lowering
Automatica, 2019Co-Authors: Yongchun Fang, Ning SunAbstract:Overhead cranes, which have been extensively studied, are mostly simplified as single Pendulums. However, in practice, the existence of lifting hook usually makes the crane present Double-Pendulum swing, i.e., hook swing with respect to the trolley and payload swing with respect to the hook. Therefore, a severe gap between theory and practice is generated. Due to this fact, lots of researchers are now working on the automation for Double-Pendulum overhead cranes (DPOC). However, with an extra unactuated degree of freedom, the control of DPOC is much more challenging than that of the simplified system due to its complicated dynamics, which is made even worse when considering payload hoisting/lowering and uncertain system parameters. To solve this problem, an enhanced-coupling adaptive controller is proposed for DPOC in this paper. Specifically, the payload hoisting/lowering motion is elaborately considered. Moreover, to improve the swing suppression performance, more swing information are incorporated into the construction of control inputs. Particularly, the uncertain payload mass is online estimated by a new adaption law ensuring precise identification, which further enhances the robustness of the proposed method. By utilizing Lyapunov techniques and LaSalle’s Invariance Theorem, the closed-loop system is proven to be asymptotically stable around the desired equilibria. Finally, convincing hardware experimental results are presented to demonstrate the efficiency and superior control performance of the proposed method.
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nonlinear stable transportation control for Double Pendulum shipboard cranes with ship motion induced disturbances
IEEE Transactions on Industrial Electronics, 2019Co-Authors: Ning Sun, Xiao Liang, Yongchun FangAbstract:From the practical perspective, with large-scale cargoes or nonnegligible hook masses, the centers of gravity of cargoes and hooks do not coincide with each other, and shipboard cranes usually exhibit complex Double-Pendulum effects during ship-to-ship or ship-to-harbor transportation, which dramatically increase the complexity of dynamic characteristics and make the control issue very challenging. At present, there is no reported work on control of Double-Pendulum shipboard cranes yet. To tackle such problems, this paper obtains the dynamic model of Double-Pendulum shipboard cranes and then provides an effective nonlinear antiswing feedback controller to achieve stable cargo transportation. Specifically, new state variable signals are generated by combining the original state variables with the ship motion (induced by sea wave perturbations). Based on this, by adding some elaborately designed nonlinear terms, an antiswing feedback controller is proposed, which can achieve stable transportation with suppressed swing, and the closed-loop asymptotic stability is proven without any linearizations or approximations to the original complex nonlinear dynamics, with rigorous theoretical analysis. As far as we know, the paper provides the first solution for both controller design and stability analysis of Double-Pendulum shipboard cranes. Also, several groups of hardware experiments are implemented on a self-built hardware experiment platform, which verify the effectiveness of the proposed method.
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nonlinear antiswing control for crane systems with Double Pendulum swing effects and uncertain parameters design and experiments
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Yiming Wu, Yongchun Fang, He ChenAbstract:In practical applications, industrial cranes may exhibit Double-Pendulum swing effects, due to many factors, such as large payload scales and non-negligible hook masses. Currently, for Double-Pendulum cranes, most available methods are open-loop controllers designed based on linearized crane dynamics; even for existing closed-loop approaches, they are also mostly developed using linearized dynamics and require the exact knowledge of system parameters, which makes them sensitive to parametric uncertainties. To handle these issues, we present an adaptive antiswing control strategy for crane systems with Double-Pendulum swing effects and uncertain/unknown parameters, which can make the trolley accurately reach the target position with reduced overshoots and effectively eliminate the Double-Pendulum swing angles at the same time. A complete stability analysis, based upon the full nonlinear dynamics (i.e., without linearizing the dynamics), is included to support the theoretical derivations. We present hardware experimental results to demonstrate that the proposed controller achieves better performance than existing ones and exhibits good robustness. Note to Practitioners —This paper is motivated by the issue of controlling a crane system when Double-Pendulum swing effects are excited and present. The Double-Pendulum effects can happen in many practical scenarios and make the crane manual operation very challenging. Moreover, most existing crane control approaches are developed based upon single-Pendulum crane models and they may not work normally in the presence of the Double-Pendulum phenomenon. In addition, usually, the model parameters, including rope length and trolley/hook/payload masses, are not exactly known in practice, which may badly degrade the performance of the control approaches requiring exact model knowledge. Toward this end, we suggest a new control method for cranes suffering from Double-Pendulum effects to achieve satisfactory performance. The presented control method is robust against parametric uncertainties and it can suppress the Double-Pendulum swing, reduce the trolley overshoots, and improve the efficiency. Preliminary physical experiments carried out on a Double-Pendulum crane hardware test bed indicate the effectiveness of the proposed method. In our future work, we will apply the suggested control approach to industrial crane systems to improve their working efficiency.
Ning Sun - One of the best experts on this subject based on the ideXlab platform.
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transportation control of Double Pendulum cranes with a nonlinear quasi pid scheme design and experiments
Systems Man and Cybernetics, 2019Co-Authors: Ning Sun, Yongchun Fang, Yiming Wu, Tong Yang, He ChenAbstract:In real-world applications, industrial cranes commonly suffer from effects caused by the so-called Double-Pendulum phenomenon in many situations. However, at present, the Double-Pendulum phenomenon is usually directly roughly neglected when designing control methods. For Double-Pendulum cranes, most currently available approaches are open loop control; the existing feedback methods are mostly developed based on linearized dynamic models (around the equilibrium point) or designed without adding integral terms in the control laws, which may cause positioning errors in the presence of unmodeled dynamics. To address these problems, this paper proposes a new quasi-proportional integral derivative control method to effectively control underactuated Double-Pendulum crane systems. Then, we provide rigorous theoretical analysis for the equilibrium point of the closed-loop system based on the original nonlinear dynamic equations. To our knowledge, this paper gives the first plant-parameter-free controller that incorporates both integral action and actuating constraints without any linearizing operations during controller design or closed-loop analysis, which theoretically ensures that the controller can work well in the presence of unmodeled dynamics (e.g., insufficient friction compensation), actuating constraints, and large swing angles (i.e., not satisfying linearization conditions). Finally, hardware experimental results are provided to examine the effectiveness of the suggested control method.
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enhanced coupling adaptive control for Double Pendulum overhead cranes with payload hoisting and lowering
Automatica, 2019Co-Authors: Yongchun Fang, Ning SunAbstract:Overhead cranes, which have been extensively studied, are mostly simplified as single Pendulums. However, in practice, the existence of lifting hook usually makes the crane present Double-Pendulum swing, i.e., hook swing with respect to the trolley and payload swing with respect to the hook. Therefore, a severe gap between theory and practice is generated. Due to this fact, lots of researchers are now working on the automation for Double-Pendulum overhead cranes (DPOC). However, with an extra unactuated degree of freedom, the control of DPOC is much more challenging than that of the simplified system due to its complicated dynamics, which is made even worse when considering payload hoisting/lowering and uncertain system parameters. To solve this problem, an enhanced-coupling adaptive controller is proposed for DPOC in this paper. Specifically, the payload hoisting/lowering motion is elaborately considered. Moreover, to improve the swing suppression performance, more swing information are incorporated into the construction of control inputs. Particularly, the uncertain payload mass is online estimated by a new adaption law ensuring precise identification, which further enhances the robustness of the proposed method. By utilizing Lyapunov techniques and LaSalle’s Invariance Theorem, the closed-loop system is proven to be asymptotically stable around the desired equilibria. Finally, convincing hardware experimental results are presented to demonstrate the efficiency and superior control performance of the proposed method.
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nonlinear stable transportation control for Double Pendulum shipboard cranes with ship motion induced disturbances
IEEE Transactions on Industrial Electronics, 2019Co-Authors: Ning Sun, Xiao Liang, Yongchun FangAbstract:From the practical perspective, with large-scale cargoes or nonnegligible hook masses, the centers of gravity of cargoes and hooks do not coincide with each other, and shipboard cranes usually exhibit complex Double-Pendulum effects during ship-to-ship or ship-to-harbor transportation, which dramatically increase the complexity of dynamic characteristics and make the control issue very challenging. At present, there is no reported work on control of Double-Pendulum shipboard cranes yet. To tackle such problems, this paper obtains the dynamic model of Double-Pendulum shipboard cranes and then provides an effective nonlinear antiswing feedback controller to achieve stable cargo transportation. Specifically, new state variable signals are generated by combining the original state variables with the ship motion (induced by sea wave perturbations). Based on this, by adding some elaborately designed nonlinear terms, an antiswing feedback controller is proposed, which can achieve stable transportation with suppressed swing, and the closed-loop asymptotic stability is proven without any linearizations or approximations to the original complex nonlinear dynamics, with rigorous theoretical analysis. As far as we know, the paper provides the first solution for both controller design and stability analysis of Double-Pendulum shipboard cranes. Also, several groups of hardware experiments are implemented on a self-built hardware experiment platform, which verify the effectiveness of the proposed method.
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An energy-optimal solution for transportation control of cranes with Double Pendulum dynamics: Design and experiments
Mechanical Systems and Signal Processing, 2018Co-Authors: Ning Sun, Yiming Wu, He Chen, Yongchun FangAbstract:Underactuated cranes play an important role in modern industry. Specifically, in most situations of practical applications, crane systems exhibit significant Double Pendulum characteristics, which makes the control problem quite challenging. Moreover, most existing planners/controllers obtained with standard methods/techniques for Double Pendulum cranes cannot minimize the energy consumption when fulfilling the transportation tasks. Therefore, from a practical perspective, this paper proposes an energy-optimal solution for transportation control of Double Pendulum cranes. By applying the presented approach, the transportation objective, including fast trolley positioning and swing elimination, is achieved with minimized energy consumption, and the residual oscillations are suppressed effectively with all the state constrains being satisfied during the entire transportation process. As far as we know, this is the first energy-optimal solution for transportation control of underactuated Double Pendulum cranes with various state and control constraints. Hardware experimental results are included to verify the effectiveness of the proposed approach, whose superior performance is reflected by being experimentally compared with some comparative controllers.
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A swing constrained time-optimal trajectory planning strategy for Double Pendulum crane systems
Nonlinear Dynamics, 2017Co-Authors: He Chen, Yongchun Fang, Ning SunAbstract:In practice, overhead crane systems are widely used and the traditional control methods for a crane system usually treat it as a single Pendulum sys-tem. However, when the hook mass cannot be ignored or the payload is too large, the crane system may behave more like a Double Pendulum system, which leads to the fact that traditional control methods are not suit-able in this situation. In this paper, we focus on the control problem of a Double Pendulum crane system and propose a time-optimal trajectory planning method with the consideration of various constraints which can achieve the objectives of both accurate trolley position-ing and Double Pendulum swing suppression. Specifi-cally, the discrete system model is obtained using the discretization technique firstly. Then by deeply analyz-ing and considering a series of constraints, we formu-late a quasiconvex optimization problem. After that, the bisection method is chosen to solve the obtained opti-mization problem with the corresponding time-optimal trajectory constructed conveniently. A tracking con-troller is also designed for the Double Pendulum crane system, which achieves proper trolley tracking per- formance. At last, both simulation and experimental results are included to illustrate the superior perfor-mance of the proposed trajectory planning method.
He Chen - One of the best experts on this subject based on the ideXlab platform.
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transportation control of Double Pendulum cranes with a nonlinear quasi pid scheme design and experiments
Systems Man and Cybernetics, 2019Co-Authors: Ning Sun, Yongchun Fang, Yiming Wu, Tong Yang, He ChenAbstract:In real-world applications, industrial cranes commonly suffer from effects caused by the so-called Double-Pendulum phenomenon in many situations. However, at present, the Double-Pendulum phenomenon is usually directly roughly neglected when designing control methods. For Double-Pendulum cranes, most currently available approaches are open loop control; the existing feedback methods are mostly developed based on linearized dynamic models (around the equilibrium point) or designed without adding integral terms in the control laws, which may cause positioning errors in the presence of unmodeled dynamics. To address these problems, this paper proposes a new quasi-proportional integral derivative control method to effectively control underactuated Double-Pendulum crane systems. Then, we provide rigorous theoretical analysis for the equilibrium point of the closed-loop system based on the original nonlinear dynamic equations. To our knowledge, this paper gives the first plant-parameter-free controller that incorporates both integral action and actuating constraints without any linearizing operations during controller design or closed-loop analysis, which theoretically ensures that the controller can work well in the presence of unmodeled dynamics (e.g., insufficient friction compensation), actuating constraints, and large swing angles (i.e., not satisfying linearization conditions). Finally, hardware experimental results are provided to examine the effectiveness of the suggested control method.
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nonlinear antiswing control for crane systems with Double Pendulum swing effects and uncertain parameters design and experiments
IEEE Transactions on Automation Science and Engineering, 2018Co-Authors: Yiming Wu, Yongchun Fang, He ChenAbstract:In practical applications, industrial cranes may exhibit Double-Pendulum swing effects, due to many factors, such as large payload scales and non-negligible hook masses. Currently, for Double-Pendulum cranes, most available methods are open-loop controllers designed based on linearized crane dynamics; even for existing closed-loop approaches, they are also mostly developed using linearized dynamics and require the exact knowledge of system parameters, which makes them sensitive to parametric uncertainties. To handle these issues, we present an adaptive antiswing control strategy for crane systems with Double-Pendulum swing effects and uncertain/unknown parameters, which can make the trolley accurately reach the target position with reduced overshoots and effectively eliminate the Double-Pendulum swing angles at the same time. A complete stability analysis, based upon the full nonlinear dynamics (i.e., without linearizing the dynamics), is included to support the theoretical derivations. We present hardware experimental results to demonstrate that the proposed controller achieves better performance than existing ones and exhibits good robustness. Note to Practitioners —This paper is motivated by the issue of controlling a crane system when Double-Pendulum swing effects are excited and present. The Double-Pendulum effects can happen in many practical scenarios and make the crane manual operation very challenging. Moreover, most existing crane control approaches are developed based upon single-Pendulum crane models and they may not work normally in the presence of the Double-Pendulum phenomenon. In addition, usually, the model parameters, including rope length and trolley/hook/payload masses, are not exactly known in practice, which may badly degrade the performance of the control approaches requiring exact model knowledge. Toward this end, we suggest a new control method for cranes suffering from Double-Pendulum effects to achieve satisfactory performance. The presented control method is robust against parametric uncertainties and it can suppress the Double-Pendulum swing, reduce the trolley overshoots, and improve the efficiency. Preliminary physical experiments carried out on a Double-Pendulum crane hardware test bed indicate the effectiveness of the proposed method. In our future work, we will apply the suggested control approach to industrial crane systems to improve their working efficiency.
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An energy-optimal solution for transportation control of cranes with Double Pendulum dynamics: Design and experiments
Mechanical Systems and Signal Processing, 2018Co-Authors: Ning Sun, Yiming Wu, He Chen, Yongchun FangAbstract:Underactuated cranes play an important role in modern industry. Specifically, in most situations of practical applications, crane systems exhibit significant Double Pendulum characteristics, which makes the control problem quite challenging. Moreover, most existing planners/controllers obtained with standard methods/techniques for Double Pendulum cranes cannot minimize the energy consumption when fulfilling the transportation tasks. Therefore, from a practical perspective, this paper proposes an energy-optimal solution for transportation control of Double Pendulum cranes. By applying the presented approach, the transportation objective, including fast trolley positioning and swing elimination, is achieved with minimized energy consumption, and the residual oscillations are suppressed effectively with all the state constrains being satisfied during the entire transportation process. As far as we know, this is the first energy-optimal solution for transportation control of underactuated Double Pendulum cranes with various state and control constraints. Hardware experimental results are included to verify the effectiveness of the proposed approach, whose superior performance is reflected by being experimentally compared with some comparative controllers.
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A swing constrained time-optimal trajectory planning strategy for Double Pendulum crane systems
Nonlinear Dynamics, 2017Co-Authors: He Chen, Yongchun Fang, Ning SunAbstract:In practice, overhead crane systems are widely used and the traditional control methods for a crane system usually treat it as a single Pendulum sys-tem. However, when the hook mass cannot be ignored or the payload is too large, the crane system may behave more like a Double Pendulum system, which leads to the fact that traditional control methods are not suit-able in this situation. In this paper, we focus on the control problem of a Double Pendulum crane system and propose a time-optimal trajectory planning method with the consideration of various constraints which can achieve the objectives of both accurate trolley position-ing and Double Pendulum swing suppression. Specifi-cally, the discrete system model is obtained using the discretization technique firstly. Then by deeply analyz-ing and considering a series of constraints, we formu-late a quasiconvex optimization problem. After that, the bisection method is chosen to solve the obtained opti-mization problem with the corresponding time-optimal trajectory constructed conveniently. A tracking con-troller is also designed for the Double Pendulum crane system, which achieves proper trolley tracking per- formance. At last, both simulation and experimental results are included to illustrate the superior perfor-mance of the proposed trajectory planning method.
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Amplitude-Saturated Nonlinear Output Feedback Antiswing Control for Underactuated Cranes with Double-Pendulum Cargo Dynamics
IEEE Transactions on Industrial Electronics, 2017Co-Authors: Ning Sun, He Chen, Yongchun Fang, Biao LuAbstract:When modeling cranes, the hook and the suspended cargo are usually regarded roughly as one mass point for simplicity, i.e., the cargo swing is modeled as that of a single Pendulum. However, in practice, when the hook mass is nonnegligible or the cargo has a large size, the crane always exhibits Double-Pendulum swing dynamics, which is much more complicated and makes most existing control methods unapplicable. In addition, all existing closed-loop controllers for (Double-Pendulum) cranes require full state feedback, while velocities are unavailable in most cases. Moreover, they need to linearize the nonlinear crane model and cannot respect the actuator's practical saturation constraint, which may probably lead to actuator saturation and badly degrade the control performance (even unstable). In response to these practical issues, we suggest a novel amplitude-saturated output feedback (OFB) control approach for underactuated crane systems exhibiting Double-Pendulum effects. We provide explicit Lyapunov-based analysis to rigorously prove that the equilibrium point of the closed-loop system is almost globally asymptotically stable, without any approximation to the original nonlinear dynamics. As far as we know, this paper presents the first closed-loop control method that can achieve control for an underactuated Double-Pendulum crane with merely OFB and theoretically-guaranteed saturated control efforts. Hardware experimental results demonstrate the superior performance of the proposed approach over existing methods and its strong robustness as well. [ABSTRACT FROM AUTHOR]