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Tracking control design for a multi-degree underactuated flexible-cable overhead crane system with large swing angle based on singular perturbation method and an energy-shaping technique:

Published on Jun 1, 2019in Journal of Vibration and Control2.865
路 DOI :10.1177/1077546319833881
Mohammad H. Fatehi3
Estimated H-index: 3
(IAU: Islamic Azad University),
Mohammad Eghtesad17
Estimated H-index: 17
(Shiraz University)
+ 1 AuthorsAli A. Fatehi1
Estimated H-index: 1
(IAU: Islamic Azad University)
Abstract
A flexible-cable overhead crane system having large swing is studied as a multi-degree underactuated system. To resolve the system dynamics complexities, a second order singular perturbation (SP) f...
  • References (18)
  • Citations (2)
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References18
Newest
#1Dominik St眉rzer (TU Wien: Vienna University of Technology)H-Index: 4
#2Anton Arnold (TU Wien: Vienna University of Technology)H-Index: 17
Last. Andreas Kugi (TU Wien: Vienna University of Technology)H-Index: 24
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ABSTRACTIn this paper, we analyse a systematically designed and easily tunable backstepping-based boundary control concept for a gantry crane with heavy chain and payload. The corresponding closed-loop system is formulated as an abstract evolution equation in an appropriate Hilbert space. Non-restrictive conditions for the controller coefficients are derived, under which the solutions are described by a C0-semi-group of contractions, and are asymptotically stable. Moreover, by applying Huang's t...
2 CitationsSource
#1Liyana Ramli (UTM: Universiti Teknologi Malaysia)H-Index: 5
#2Z. Mohamed (UTM: Universiti Teknologi Malaysia)H-Index: 4
Last. Izzuddin M. Lazim (UTM: Universiti Teknologi Malaysia)H-Index: 1
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Abstract Crane systems are tremendously utilised in numerous heavy load transportation industries, and therefore, the control of crane systems is a well-established research field. As the last review paper was published more than a decade ago, there is a lack of collected and organised information regarding the latest and the newest updates on control strategies for crane control systems. Hence, this paper presents a comprehensive review of crane control strategies discussing the latest research...
60 CitationsSource
In this paper, a robust finite-time antisway (i.e., antiswing and antiskew) tracking control method is developed for three-dimensional (3-D) overhead crane systems using a sliding-mode control (SMC) method. In order to control the overhead cranes, various tracking controllers have been developed to achieve satisfactory position tracking and swing suppression. However, along with the trolley and girder positions, both sway angles (i.e., swing and skew angles) should be controlled using the forces...
17 CitationsSource
#1Mohammad H. Fatehi (IAU: Islamic Azad University)H-Index: 3
#2Mohammad Eghtesad (Shiraz University)H-Index: 17
Last. Roya Amjadifard (Kharazmi University)H-Index: 4
view all 3 authors...
This paper aims to develop an advanced control system for an overhead crane with transverse vibrations of flexible cable while considering large angle of the cable swing. The control objective is to move the payload to a desired position and at the same time, to reduce the payload swing and to suppress the cable transverse vibrations only by applying a directional (horizontal) driving force to the trolley. The crane system with cable vibrations and large swing angle is categorized as a multi-deg...
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In this paper a novel dynamical model will be developed for an overhead crane with transverse vibrations of flexible cable while considering large angle of the cable/payload swing. The major problem addressed is expressing the dynamic interaction between the cables and other elements in the crane system which demands investigation into boundary induced cable vibrations and large swing angle. The developed model is achieved as an ODE model and it is appropriate enough to design suitable control s...
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#1Mohammad H. Fatehi (IAU: Islamic Azad University)H-Index: 3
#2Mohammad Eghtesad (Shiraz University)H-Index: 17
Last. Roya Amjadifard (Kharazmi University)H-Index: 4
view all 3 authors...
This paper deals with modelling and control of an overhead crane with a flexible cable. The developed dynamical model includes both transverse vibrations of the flexible cable and large swing angles of cable while the trolley is moving horizontally. To carry out the modelling, Rayleigh-Ritz discretization method is used to achieve an ordinary differential equation (ODE) model for transverse deflection of the cable with finite generalized degrees of freedom. Using the Euler鈥揕agrange formulation, ...
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#1Yang Liu (Aberd.: University of Aberdeen)H-Index: 15
#2Hongnian Yu (BU: Bournemouth University)H-Index: 24
An underactuated mechanical system (UMS) is a system which has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research because of its diverse engineering applications. This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control, and to some extent, provides some unique insights for bottleneck issues and future research directions.
103 CitationsSource
#1Ning Sun (NKU: Nankai University)H-Index: 22
#2Yongchun Fang (NKU: Nankai University)H-Index: 33
In this paper, we present a novel end-effector (payload) motion-based control development approach for the regulation of underactuated overhead cranes, which is efficient even in the presence of external disturbance and system parameter variations/uncertainties. The control system is elegantly constructed so that the problem of simultaneously regulating the trolley motion and suppressing the payload swing is successfully addressed by stabilizing a newly defined payload motion signal. Specificall...
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#1Guoqiang Hu (UF: University of Florida)H-Index: 31
#2C. Makkar (UF: University of Florida)H-Index: 7
Last. W.E. Dixont (UF: University of Florida)H-Index: 47
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In this note, Lyapunov-based methods are used to design a class of energy-based nonlinear controllers to globally asymptotically stabilize/regulate an underactuated mechanical system subject to an impact collision. The impact model is considered as an elastic contact with finite stiffness. One of the difficulties in controlling impact is that the equations of motion are quite different when the system status changes from a noncontact condition to a contact condition. Another difficulty arises wh...
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