A Novel Smooth Super-Twisting Control Method for Perturbed Nonlinear Double-Pendulum-Type Overhead Cranes

2021 ◽  
Author(s):  
Muhammad A. Shehu ◽  
Aijun Li
Keyword(s):  
Control Method ◽  
Double Pendulum ◽  
Overhead Cranes ◽  
Twisting Control ◽  
Super Twisting Control

scholarly journals Design of simultaneous input-shaping-based SIRMs fuzzy control for double-pendulum-type overhead cranes

2015 ◽  
Vol 63 (4) ◽  
pp. 887-896 ◽  
Author(s):  
D. Qian ◽  
S. Tong ◽  
B. Yang ◽  
S. Lee
Keyword(s):  
Fuzzy Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Input Shaping ◽  
Double Pendulum ◽  
Overhead Cranes ◽  
Control Command ◽  
Single Input ◽  
System Variables ◽  
Simultaneous Input

Abstract Overhead cranes are extensively employed but their performance suffers from the natural sway of payloads. Sometime, the sway exhibits double-pendulum motions. To suppress the motions, this paper investigates the design of simultaneous input-shaping-based fuzzy control for double-pendulum-type overhead cranes. The fuzzy control method is based on the single input-rule modules (SIRMs). Provided the all the system variables are measurable, the SIRMs fuzzy controller is designed at first. To improve the performance of the fuzzy controller, the simultaneous input shaper is adopted to shape the control command generated by the fuzzy controller. Compared with other two control methods, i.e., the SIRMs fuzzy control and the convolved input-shaping-based SIRMs fuzzy control, simulation results illustrate the feasibility, validity and robustness of the presented control method for the anti-swing control problem of double-pendulum-type overhead cranes.

scholarly journals A novel energy-coupling-based control method for double-pendulum overhead cranes with initial control force constraint

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401775221 ◽  
Author(s):  
Menghua Zhang ◽  
Xin Ma ◽  
Xuewen Rong ◽  
Rui Song ◽  
Xincheng Tian ◽  
...  
Keyword(s):  
Control Method ◽  
Energy Coupling ◽  
Significant Feature ◽  
Double Pendulum ◽  
Control Force ◽  
Control Performance ◽  
External Disturbances ◽  
Overhead Cranes ◽  
Strong Robustness ◽  
Initial Control

A novel energy-coupling-based control method for under-actuated double-pendulum overhead cranes with initial control force constraint is proposed in this article. The significant feature of the designed controller is its superior control performance as well as its strong robustness with respect to parameter variations and external disturbances. By incorporating a smooth hyperbolic tangent function into the control law, the proposed controller guarantees soft start of the trolley. Moreover, to improve the transient performance of the crane system, coupling behavior among the trolley movement, the hook swing, and the payload swing is enhanced by introducing a generalized payload horizontal-displacement signal. Lyapunov techniques and LaSalle’s invariance theorem are utilized to prove the stability of the designed closed-loop system. Simulation results demonstrate that the new energy-coupling control method achieves superior control performance and strong robustness over different payload masses, cable lengths, desired positions, and external disturbances with reduced initial control force.

scholarly journals Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 35
Author(s):  
Yu Cao ◽  
Zhongzheng Fu ◽  
Mengshi Zhang ◽  
Jian Huang
Keyword(s):  
Control Method ◽  
Experimental Studies ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Pneumatic Muscle ◽  
System States ◽  
The Stability ◽  
Twisting Control ◽  
Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for simultaneously estimating the system states and disturbances by using measurable variables. Integrated with the ESO, a super twisting controller (STC) is design based on estimated states to realize the high-precision tracking. According to the Lyapunov theorem, the stability of the closed-loop system is ensured. Simulation and experimental studies are conducted, and the results show the convergence of the ESO and the effectiveness of the proposed method.

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