Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 27, Issue 5, Pages 3648-3659Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3126665
Keywords
Adaptive tracking control; double-pendulum effect; motion control; output feedback control; overhead crane
Categories
Funding
- National Natural Science Foundation of China [61703202]
- Postgraduate Research and Practice Innovation Program of Jiangsu Province [SJCX21_0481]
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The article discusses the complexity of designing controllers for 3-D overhead cranes with double-pendulum effect, proposes a new adaptive control method that effectively solves the control task with superior performance.
The dynamic characteristics of 3-D overhead cranes with double-pendulum effect are complex, which makes the controller design particularly challenging. Besides, in actual conditions, external disturbances cause interference to the system, and the model parameters are uncertain, which further increase the difficulty of controller design. In order to improve the control performance, two composite displacement signals are constructed to increase the coupling relationship of state vectors, and then new error signals and a total mechanicallike energy function are derived. Based on the new energy function, an adaptive control method with enhanced swing suppression is derived. Furthermore, considering the costs of sensors, the velocity signals cannot be obtained directly in many cases of practical application. Hence, auxiliary functions are constructed to replace the velocity feedback signals, and then an improved adaptive tracking control strategy is proposed. Theoretical analysis and experimental results prove that the proposed method can fulfill the control task. Its control result is significantly better than that of the comparison methods. Meanwhile, the experimental results in three different scenarios verify the strong robustness of this method.
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