Article
Engineering, Mechanical
Shengzeng Zhang, Xiongxiong He, Haiyue Zhu, Xiaocong Li, Xinggao Liu
Summary: A new control method is proposed in this study for stabilizing an overhead crane subject to both parametric uncertainty and input saturation. By setting a new Lyapunov function for the assignable equilibrium with appropriate tuning gains, a structurally simple controller is generated. The proposed controller takes advantage of the coupled dissipation term and its integral action, achieving oscillation suppression and precision positioning.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2022)
Article
Computer Science, Information Systems
Hung Van Pham, Quoc-Dong Hoang, Minh Van Pham, Dung Manh Do, Nha Hoang Phi, Duy Hoang, Hai Xuan Le, Thai Dinh Kim, Linh Nguyen
Summary: This paper proposes a new approach for efficiently controlling a 6 DoF three-dimensional overhead crane. The approach utilizes hierarchical sliding mode control and fuzzy inference rule mechanism to adaptively estimate and infer unknown and uncertain parameters, resulting in efficient crane operations in real time.
Article
Engineering, Mechanical
Shengzeng Zhang, Xiongxiong He, Haiyue Zhu
Summary: This paper investigates the nonlinear control of overhead cranes, focusing on the constraints of the state variable. A novel coupling control design is proposed, which employs barrier functions to preserve all states within asymmetric limits and enhance antisway effectiveness. The proposed controller demonstrates robustness to parametric uncertainties and achieves asymptotic stability, as verified by experiments.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Ping-Yen Shen, Julia Schatz, Ryan James Caverly
Summary: This paper proposes a robust passivity-based adaptive control method for payload trajectory tracking of a three degree-of-freedom overhead crane. The closed loop system stability and error convergence are achieved with two candidate OSP feedback controllers.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Construction & Building Technology
Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham
Summary: Block erection is a common operation in shipyards, but manual operation is inefficient and dangerous. This study successfully controlled a gantry and floating crane using underactuated mechanical system control theory, showing its applicability to block erection operations.
AUTOMATION IN CONSTRUCTION
(2021)
Article
Engineering, Mechanical
Hui Li, Ruiqin Li, Jianwei Zhang
Summary: This study introduces a novel discrete-time sliding mode control method to address the chattering issue in disturbed systems with unknown uncertainties. By adopting fuzzy logic for adaptive online hyper-parameter tuning, the control performance of underactuated robotic systems can be further enhanced. Results demonstrate the dynamic performance and robustness of the proposed method in the studied system, highlighting its superiority over other state-of-the-art methods.
FRONTIERS OF MECHANICAL ENGINEERING
(2021)
Article
Automation & Control Systems
Yongchao Man, Yungang Liu
Summary: This paper proposes a supervisory control scheme for overhead crane systems, which includes a high-level decision making mechanism and multi-estimator. By constructing monitoring signals and online evaluation, the scheme can select the suitable controller for the current instant of time, achieving payload driving and swing elimination.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
Article
Engineering, Manufacturing
Qianqian Zhang, Bo Fan, Lei Wang, Zhiming Liao
Summary: This paper proposes a novel positioning and anti-swing controller based on fuzzy sliding mode for an overhead crane. The trolley displacement and load swing angle are integrated into the same sliding mode surface to deal with the underactuated characteristics of the overhead crane. The introduced fuzzy rules adjust the control quantity to ensure the system state remains on this surface, improving the control system's robustness to parameter changes and external disturbances.
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
(2023)
Article
Engineering, Mechanical
Meizhen Lei, Xianqing Wu, Yibo Zhang, Liuting Ke
Summary: This paper discusses the application of disturbance observer technique and interconnection and damping assignment passivity-based control to disturbance estimation and regulation control in underactuated overhead crane systems. A finite time disturbance estimator is proposed based on the super-twisting sliding mode control technology, which can accurately identify uncertain disturbances within a finite time. A novel disturbance-observer-based nonlinear controller is derived, and rigorous theoretical analysis is given to prove the convergence of the closed-loop system to the origin. Experimental tests demonstrate the effectiveness of the proposed control law in disturbance estimation and regulation performance.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Bo Fan, Yifan Zhang, Lifan Sun, Lei Wang, Zhiming Liao
Summary: Traditional control strategies for overhead crane systems are complex due to dependency on model parameters. This study proposes a novel control strategy based on load energy coupling, which can achieve accurate positioning and eliminate load swing by constructing a three-dimensional dynamic model and analyzing coupling relationships.
Article
Automation & Control Systems
Van Trung Nguyen, Chunhua Yang, Chenglong Du, Liqing Liao
Summary: This paper addresses the problem of fuzzy overhead crane system modelling and finite-time stability/boundedness using sliding mode control method. The fuzzy technique is employed to linearize the system and a fuzzy model with appropriate membership functions is established. The sliding mode control method is utilized to stabilize the system and handle external disturbances. Finite-time stability/boundedness is introduced to achieve system stability within a specified finite time.
Article
Engineering, Mechanical
G. Rigatos
Summary: A nonlinear optimal control method is proposed for the dynamic model of double-pendulum overhead crane system. The method solves the control and stabilization problem by approximately linearizing the system at each time step and designing a stabilizing optimal feedback controller based on the linearized state-space model. The control gains are computed by solving an algebraic Riccati equation and the H-infinity Kalman filter is used for robust state estimation-based control.
JOURNAL OF VIBRATION ENGINEERING & TECHNOLOGIES
(2023)
Article
Automation & Control Systems
Hai Xuan Le, Thai Dinh Kim, Quoc-Dong Hoang, Minh Van Pham, Thien Van Nguyen, Hung Van Pham, Dung Manh Do
Summary: In this paper, a novel overhead crane model is developed to consider the effect of axial payload oscillation on the system's performance. An adaptive fuzzy backstepping hierarchical sliding mode controller is designed to ensure precise movements and reduce vibrations of the payload. The controller's parameters are adjusted online using a fuzzy logic system. Simulation results show the effectiveness of the proposed method in achieving motion precision and minimizing load swings and axial oscillation.
INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL
(2022)
Article
Mathematics
Jie Fu, Jian Liu, Dongkai Xie, Zhe Sun
Summary: To solve the problem of crane anti-swing, fuzzy PID is a common method. However, configuring the parameters of fuzzy PID requires significant effort and time from professionals. This paper introduces the LSO algorithm with stray operator, which enhances its global search capability. By combining SLSO and fuzzy PID and comparing them with other methods, this paper demonstrates that the optimization algorithm can find suitable parameter configuration for fuzzy PID without targeted optimization by professionals, making it effectively applicable to the crane anti-swing problem.
Article
Automation & Control Systems
Liqiang Wang, Xianqing Wu, Meizhen Lei, Jingjing Zhu
Summary: This study focuses on the application of IDA-PBC methodology to the regulation control of a 3D overhead crane system. The goal is to design a controller that can precisely drive the cart to the desired position and effectively eliminate payload swing. By solving partial differential equations and using Lyapunov techniques and LaSalle's principle, a stable nonlinear controller is developed. Simulation and experimental results demonstrate excellent positioning accuracy and significant swing elimination achieved by the proposed strategy.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2023)
Article
Engineering, Electrical & Electronic
J. D. B. dos Santos, W. M. Bessa
ELECTRONICS LETTERS
(2019)
Article
Engineering, Mechanical
Thomas Berger, Svenja Otto, Timo Reis, Robert Seifried
NONLINEAR DYNAMICS
(2019)
Article
Computer Science, Artificial Intelligence
Gabriel S. Lima, Sebastian Trimpe, Wallace M. Bessa
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2020)
Article
Engineering, Mechanical
Thomas Berger, Svenja Druecker, Lukas Lanza, Timo Reis, Robert Seifried
Summary: The study focuses on tracking control for multibody systems modeled using holonomic and non-holonomic constraints. These systems may be underactuated, contain kinematic loops, and cannot be reformulated as ordinary differential equations. A control strategy combining feedforward and feedback controllers is proposed, demonstrated by a nonlinear non-minimum phase multi-input, multi-output robotic manipulator simulation.
NONLINEAR DYNAMICS
(2021)
Article
Engineering, Electrical & Electronic
Gabriel da Silva Lima, Diego Rolim Porto, Adilson Jose de Oliveira, Wallace Moreira Bessa
Summary: This intelligent control scheme is based on a sliding mode controller and an embedded neural network to handle modeling inaccuracies, with the ability to adjust weights in real time. The controller is able to deal with underactuation issues and adapt by learning from experience, granting it a stronger capacity to handle plant dynamics.
ELECTRONICS LETTERS
(2021)
Article
Computer Science, Information Systems
Gabriel S. Lima, Wallace M. Bessa
Summary: This work introduces a new control scheme for uncertain underactuated mechanical systems based on sliding mode control and Gaussian process regressor for uncertainty estimation and compensation. Numerical simulations with an inverted pendulum on a cart are used to confirm the improved performance of the proposed control scheme.
IEEE LATIN AMERICA TRANSACTIONS
(2022)
Article
Engineering, Mechanical
Gabriel da Silva Lima, Victor Ramon Firmo Moreira, Wallace Moreira Bessa
Summary: Omnidirectional mobile robots have gained attention for their maneuverability. However, accurate trajectory tracking remains a challenge for control system designers. This work introduces a novel intelligent controller for accurate trajectory tracking of omnidirectional robots, dealing with unstructured uncertainties. An adaptive neural network is used to handle frictional forces and other unmodeled dynamics or disturbances. Online learning allows the robot to learn how to compensate for uncertainties and disturbances on its own. The intelligent controller significantly reduces computational complexity and can be implemented in the embedded hardware of mobile robots. The effectiveness of the controller is validated through numerical evaluation and experimental tests. Results show significant reduction in tracking error, confirming the superiority of the proposed control strategy.
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING
(2023)
Article
Biotechnology & Applied Microbiology
Joao Lucas Correia Barbosa de Farias, Wallace Moreira Bessa
Summary: This study proposes an intelligent controller based on Lyapunov and artificial neural networks for automated insulin delivery systems. The results show that the proposed control scheme can effectively maintain normoglycemia in patients with type 1 diabetes mellitus.
BIOENGINEERING-BASEL
(2022)
Article
Engineering, Mechanical
Gabriel S. Lima, Marcelo A. Savi, Wallace M. Bessa
Summary: This paper investigates the control of cardiac rhythms using electrocardiograms (ECGs) to induce normal rhythms from pathological responses. An intelligent controller is proposed based on synthetic ECGs and artificial neural networks. Results demonstrate that the proposed control scheme can avoid abnormal rhythms and restore the expected normal behavior of the electrocardiogram.
NONLINEAR DYNAMICS
(2023)
Article
Behavioral Sciences
Wallace M. Bessa, Lucas S. Cadengue, Ana C. Luchiari
Summary: In this study, the foraging performance of Siamese fighting fish was evaluated using a biological model and a machine learning algorithm. The fish's performance was found to be correlated with their basal cortisol levels, and the epsilon-greedy algorithm was suggested for simulating foraging decisions. The results indicate that machine learning can be a powerful tool for studying animal cognition and behavioral sciences.
FRONTIERS IN BEHAVIORAL NEUROSCIENCE
(2023)
Article
Engineering, Electrical & Electronic
Wallace Moreira Bessa, Gabriel da Silva Lima
Summary: Memristive neuromorphic systems are promising technologies to overcome challenges faced by conventional computer systems. However, their nonlinear characteristics result in complex dynamic behavior. This study proposes an intelligent controller and a Lyapunov-based nonlinear control scheme to suppress abnormal events in memristive circuits, achieving improved performance.
JOURNAL OF LOW POWER ELECTRONICS AND APPLICATIONS
(2022)
Proceedings Paper
Computer Science, Artificial Intelligence
Gabriel S. Lima, Wallace M. Bessa, Sebastian Trimpe
15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018)
(2018)
Proceedings Paper
Automation & Control Systems
Gerrit Brinkmann, Wallace M. Bessa, Daniel-A. Duecker, Edwin Kreuzer, Eugen Solowjow
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2018)
