A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

2006 ◽  
Vol 128 (4) ◽  
pp. 842-845 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Yi Liang ◽  
Del Segura
Keyword(s):  
High Frequency ◽  
High Speed ◽  
Sliding Mode ◽  
Trajectory Control ◽  
Overhead Cranes ◽  
Damping Control ◽  
Control Scheme ◽  
Planning Scheme ◽  
Load Swing ◽  
High Frequency Sampling

In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based on the Lyapunov stability theorem, where a sliding surface, coupling the trolley motion with load swing, is adopted for a direct damping control of load swing. The proposed control guarantees asymptotic stability while keeping all internal signals bounded. In association with a new antiswing motion planning scheme, the proposed control realizes a typical antiswing trajectory control in practice, allowing high-speed load-hoisting motion and sufficient damping of load swing. The proposed control is simple for a real-time implementation with high-frequency sampling. The effectiveness of the proposed control has been confirmed by experiments.

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

A New Motion-Planning Scheme for Overhead Cranes With High-Speed Hoisting

2004 ◽  
Vol 126 (2) ◽  
pp. 359-364 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Motion Planning ◽  
High Speed ◽  
High Performance ◽  
Control Law ◽  
Planning Problem ◽  
Lyapunov Stability Theorem ◽  
Overhead Cranes ◽  
Swing Angle ◽  
Planning Scheme ◽  
Load Swing

This paper proposes a motion-planning method for a high-performance anti-swing control of overhead cranes, where the motion-planning problem is solved as a kinematic problem. First, an anti-swing regulating control law is proposed based on the Lyapunov stability theorem, where the proposed anti-swing control drives trolley velocity regulating error asymptotically to zero while suppressing load swing rapidly to zero for given arbitrary high-speed hoisting motions. Then a motion-planning scheme is designed based on the concept of minimumtime control, the proposed anti-swing control law, and typical anti-swing crane-operation practices. The motion-planning scheme is free from the usual mathematical constraints in anti-swing control such as small swing angle, small hoisting speed, and small hoisting distance. The effectiveness of the proposed motion planning is shown by generating high-performance anti-swing trajectories with high hoisting speed and hoisting ratio.

A New Trajectory-Generation Scheme for Overhead Cranes With High-Speed Load Hoisting

2004 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Del Segura ◽  
Yi Liang
Keyword(s):  
High Speed ◽  
High Performance ◽  
Trajectory Generation ◽  
Control Law ◽  
Mathematical Tool ◽  
Lyapunov Stability Theorem ◽  
Overhead Cranes ◽  
Time Control ◽  
Load Swing ◽  
Generation Problem

This paper proposes a new trajectory-generation scheme for a high-performance anti-swing control of overhead cranes, where the trajectory-generation problem is solved as a kinematic problem. First, a new anti-swing control law is designed based on the load-swing dynamics, for which the Lyapunov stability theorem is used as a mathematical tool. Then a new trajectory-generation scheme is proposed based on the anti-swing control law and typical crane operation in practice. For g iven hoisting motions, trolley-traveling trajectory references are computed based on the concept of minimum-time control, and then anti-swing trajectories are generated based on the trajectory references through the anti-swing control law. The new trajectory-generation scheme generates a typical anti-swing trajectory in industry with high-speed load hoisting. The effectiveness of the proposed trajectory-generation scheme is shown by generating high-performance anti-swing trajectories with high hoisting speed and hoisting ratio.

Sliding Mode Control Application to Amplitude Control of Comb-Actuated Resonant Microscanners

2010 ◽  
Author(s):  
Mansour Abtahi ◽  
Gholamreza Vossoughi
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Sliding Mode ◽  
Control Function ◽  
Dominant Role ◽  
Amplitude Control ◽  
Mode Control ◽  
Control Scheme ◽  
And Performance ◽  
Control Application

MOEMS (Micro-Opto-Electro-Mechanical System) are MEMS in which the optical part plays a dominant role. The use of MOEMS as scanners and projectors has been studied lately. For high speed scanning applications, electrostatic comb drive actuation has several advantages. In this paper, we demonstrate the application of sliding mode control scheme for amplitude control of comb-actuated resonant microscanners. This method that leads to a simple and practical control function is simply extendable for microscanners with other type of actuation and even for any kind of oscillators that need amplitude control. The functionality and performance of the presented scheme is verified using numerical.

Robust Adaptive Trajectory Control for an Omnidirectional Vehicle

2013 ◽  
Vol 284-287 ◽  
pp. 1919-1923
Author(s):  
Ya Chao Yang ◽  
Chi Cheng Cheng ◽  
Chin Yin Chen
Keyword(s):  
Sliding Mode ◽  
Trajectory Control ◽  
Robust Adaptive Control ◽  
Tracking Performance ◽  
Sliding Mode Controller ◽  
Vehicle System ◽  
Control Scheme ◽  
Asymptotic Tracking ◽  
Robust Adaptive ◽  
Adaptive Control Strategy

In this paper, a robust adaptive control strategy is proposed for trajectory control of an omnidirectional vehicle with three omni-wheels, which have the ability to move simultaneously with independently rotational motion. Actuators of the omnidirectional vehicle contain uncertainties and their parameters are unknown. By the Lyapunov stability, the asymptotic tracking performance can be assured. The proposed control scheme is demonstrated by actual tracking experiments using the omnidirectional vehicle system. Experimental results showed promising tracking performance for the proposed method as compared to traditional sliding mode controller.

Sliding Mode Control Scheme for Uncertain Linear Systems

2012 ◽  
Vol 562-564 ◽  
pp. 2065-2068
Author(s):  
Gang Ding ◽  
Jin Liu ◽  
Jing Zhang
Keyword(s):  
Sliding Mode Control ◽  
High Frequency ◽  
Control Algorithm ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
Sigmoid Function ◽  
Reaching Law ◽  
Mode Control ◽  
Control Scheme ◽  
Uncertain Linear Systems

A sliding mode control algorithm is proposed for a class of linear unmatched uncertain systems.The unmatched disturbance is will not be amplified by the discontinuous control. In order to reduce chattering, a bipolar sigmoid function without high frequency switching is induced. The control scheme developed is based on integral sliding mode and rate reaching law and stability is ensured using the Lyapunov method. An illustrative example shows the applicability of the method.

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Experimental Study

2010 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Yi Liang
Keyword(s):  
Experimental Study ◽  
High Speed ◽  
Trajectory Control ◽  
Overhead Cranes ◽  
Preliminary Study ◽  
Theoretical Results

The objective of this study is to solve serious robustness problems in the anti-swing trajectory control of overhead cranes caused by unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. Based on the theoretical results in the preliminary study, this paper experimentally shows that the proposed anti-swing control solves this robustness problem due to the usual mechanical inaccuracies and installation errors in application.

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