Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach
Summary Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane syst...
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Veröffentlicht in: | International journal of robust and nonlinear control 2020-03, Vol.30 (5), p.1872-1885 |
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container_title | International journal of robust and nonlinear control |
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creator | Ouyang, Huimin Xu, Xiang Zhang, Guangming |
description | Summary
Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations. |
doi_str_mv | 10.1002/rnc.4854 |
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Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations.</description><identifier>ISSN: 1049-8923</identifier><identifier>EISSN: 1099-1239</identifier><identifier>DOI: 10.1002/rnc.4854</identifier><language>eng</language><publisher>Bognor Regis: Wiley Subscription Services, Inc</publisher><subject>Adaptive control ; adaptive tracking control ; Computer simulation ; Control methods ; Control systems design ; Controllers ; Cranes ; double‐pendulum effect ; Dynamic models ; motion control ; Nonlinear control ; Parameter uncertainty ; Pendulums ; rotary crane ; underactuated system</subject><ispartof>International journal of robust and nonlinear control, 2020-03, Vol.30 (5), p.1872-1885</ispartof><rights>2019 John Wiley & Sons, Ltd.</rights><rights>2020 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3964-7f6e0c610e03a69f3738cb8fe8278f0c9fb33218ca1e1d5bdfe09e54180e87983</citedby><cites>FETCH-LOGICAL-c3964-7f6e0c610e03a69f3738cb8fe8278f0c9fb33218ca1e1d5bdfe09e54180e87983</cites><orcidid>0000-0002-5278-9563</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frnc.4854$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frnc.4854$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,780,784,1417,27924,27925,45574,45575</link.rule.ids></links><search><creatorcontrib>Ouyang, Huimin</creatorcontrib><creatorcontrib>Xu, Xiang</creatorcontrib><creatorcontrib>Zhang, Guangming</creatorcontrib><title>Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach</title><title>International journal of robust and nonlinear control</title><description>Summary
Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations.</description><subject>Adaptive control</subject><subject>adaptive tracking control</subject><subject>Computer simulation</subject><subject>Control methods</subject><subject>Control systems design</subject><subject>Controllers</subject><subject>Cranes</subject><subject>double‐pendulum effect</subject><subject>Dynamic models</subject><subject>motion control</subject><subject>Nonlinear control</subject><subject>Parameter uncertainty</subject><subject>Pendulums</subject><subject>rotary crane</subject><subject>underactuated system</subject><issn>1049-8923</issn><issn>1099-1239</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><recordid>eNp1kMtKAzEUhoMoWKvgIwTcuJmaTOaSLKV4g6IgdR0yyYlOnSZjMmOZnY_gM_okTlu3rs6B8_H_nA-hc0pmlJD0Kjg9y3ieHaAJJUIkNGXicLtnIuEiZcfoJMYVIeMtzSbILYPS77V7xcoZ3HhlcNyoAQcwve5q77D1ARvfVw38fH234Ezf9GscfKfCgHVQDiLu4y7BqLarPwE775ragQpYe9cF32DVtsEr_XaKjqxqIpz9zSl6ub1Zzu-TxdPdw_x6kWgmiiwpbQFEF5QAYaoQlpWM64pb4GnJLdHCVoyllGtFgZq8MhaIgDyjnAAvBWdTdLHPHWs_eoidXPk-uLFSpiznpMiLXIzU5Z7SwccYwMo21OvxL0mJ3NqUo025tTmiyR7d1A0M_3Ly-XG-438Brop47Q</recordid><startdate>20200325</startdate><enddate>20200325</enddate><creator>Ouyang, Huimin</creator><creator>Xu, Xiang</creator><creator>Zhang, Guangming</creator><general>Wiley Subscription Services, Inc</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0002-5278-9563</orcidid></search><sort><creationdate>20200325</creationdate><title>Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach</title><author>Ouyang, Huimin ; Xu, Xiang ; Zhang, Guangming</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3964-7f6e0c610e03a69f3738cb8fe8278f0c9fb33218ca1e1d5bdfe09e54180e87983</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Adaptive control</topic><topic>adaptive tracking control</topic><topic>Computer simulation</topic><topic>Control methods</topic><topic>Control systems design</topic><topic>Controllers</topic><topic>Cranes</topic><topic>double‐pendulum effect</topic><topic>Dynamic models</topic><topic>motion control</topic><topic>Nonlinear control</topic><topic>Parameter uncertainty</topic><topic>Pendulums</topic><topic>rotary crane</topic><topic>underactuated system</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Ouyang, Huimin</creatorcontrib><creatorcontrib>Xu, Xiang</creatorcontrib><creatorcontrib>Zhang, Guangming</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>International journal of robust and nonlinear control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Ouyang, Huimin</au><au>Xu, Xiang</au><au>Zhang, Guangming</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach</atitle><jtitle>International journal of robust and nonlinear control</jtitle><date>2020-03-25</date><risdate>2020</risdate><volume>30</volume><issue>5</issue><spage>1872</spage><epage>1885</epage><pages>1872-1885</pages><issn>1049-8923</issn><eissn>1099-1239</eissn><abstract>Summary
Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations.</abstract><cop>Bognor Regis</cop><pub>Wiley Subscription Services, Inc</pub><doi>10.1002/rnc.4854</doi><tpages>15</tpages><orcidid>https://orcid.org/0000-0002-5278-9563</orcidid></addata></record> |
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subjects | Adaptive control adaptive tracking control Computer simulation Control methods Control systems design Controllers Cranes double‐pendulum effect Dynamic models motion control Nonlinear control Parameter uncertainty Pendulums rotary crane underactuated system |
title | Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach |
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