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 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.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

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.

Integrated Modified Repetitive Control With Disturbance Observer of Piezoelectric Nanopositioning Stages for High-Speed and Precision Motion

2019 ◽  
Vol 141 (8) ◽  
Author(s):  
Zhao Feng ◽  
Jie Ling ◽  
Min Ming ◽  
Xiaohui Xiao
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
External Disturbance ◽  
Repetitive Control ◽  
Optimization Procedure ◽  
Tracking Performance ◽  
Hysteresis Nonlinearity ◽  
Control Scheme ◽  
The Stability ◽  
Precision Motion

The tracking performance of piezoelectric nanopositioning stages is vital in many applications, such as scanning probe microscopes (SPMs). Although modified repetitive control (MRC) can improve tracking performance for commonly used periodic reference input, it is sensitive to unexpected disturbances that deteriorate tracking precision, especially for high-speed motion. In order to achieve high-speed and precision motion, in this paper, a new composite control scheme by integrating MRC with disturbance observer (DOB) is developed. To simplify controller implementation, the hysteresis nonlinearity is treated as external disturbance and the proposed method is designed in frequency domain. The stability and robust stability are analyzed, and an optimization procedure to calculate the controller parameters is employed to enhance the performance to the maximum extent. To validate the effectiveness of the proposed method, comparative experiments are performed on a piezoelectric nanopositioning stage. Experimental results indicate that the hysteresis is suppressed effectively and the proposed method achieves high-speed and precision tracking with triangular waves references up to 25 Hz and improves the disturbance rejection ability with disturbances under different frequencies and robustness to model uncertainty through comparing with feedback controllers and MRC, respectively.

Adaptive Control of a Surface Ship at High Speed Using Neural Networks

2012 ◽  
Vol 571 ◽  
pp. 518-523
Author(s):  
Li Dong Guo ◽  
Li Xin Yang
Keyword(s):  
Adaptive Control ◽  
High Speed ◽  
Synthesis Method ◽  
Control Synthesis ◽  
Lyapunov Theorem ◽  
Nonlinear Characteristics ◽  
Surface Ship ◽  
Hydrodynamic Damping ◽  
Control Scheme ◽  
The Stability

An adaptive control synthesis method is considered, which forces a surface ship at high speed to track a desired path. The nonlinear characteristics of the hydrodynamic damping can never be neglected in high speed maneuvering situation. Since the hydrodynamic coefficients of the surface ship at high speed are very difficult to be accurately estimated as a prior, the unknown part of the tracking dynamics system is approximated by neural network. The stability analysis will be given by Lyapunov theorem. Numerical simulations illustrate the excellent tracking performance of the surface ship at high speed under the proposed control scheme.

Trajectory Control of a Car-Like Wheeled Robot

2010 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Trajectory Control ◽  
Design Tool ◽  
Robot Dynamics ◽  
Steering Angle ◽  
Kinematic Constraints ◽  
Kinematic Control ◽  
Driving Speed ◽  
Control Scheme

This paper proposes a trajectory control method for a carlike four-wheeled mobile robot. First, a kinematic control scheme is designed based on the nonholonomic kinematic constraints of a mobile robot, in which reference driving speed and steering angle are computed for a given desired trajectory of the robot. This kinematic control scheme, generating the reference speed and steering angle, can be applied to unmanned vehicle control with a robot driver. Second, a new backstepping trajectory control scheme is designed based on the robot dynamics subject to the nonholonomic kinematic constraints, in which the desired driving force and steering torque are computed for a given desired trajectory. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the trajectory control while keeping all internal signals bounded. Finally, the validity of the theoretical results is shown by realistic computer simulations with one sampling delay in the control loop.

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.

scholarly journals A new approach on the modelling, chaos control and synchronization of a fractional biological oscillator

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Ali Saleh Alshomrani ◽  
Malik Zaka Ullah ◽  
Dumitru Baleanu
Keyword(s):  
Chaos Control ◽  
Control Method ◽  
Phase Portraits ◽  
New Approach ◽  
Control Scheme ◽  
Biological Oscillator ◽  
The Stability ◽  
Control And Synchronization ◽  
And Control ◽  
Active Control Method

AbstractThis research aims to discuss and control the chaotic behaviour of an autonomous fractional biological oscillator. Indeed, the concept of fractional calculus is used to include memory in the modelling formulation. In addition, we take into account a new auxiliary parameter in order to keep away from dimensional mismatching. Further, we explore the chaotic attractors of the considered model through its corresponding phase-portraits. Additionally, the stability and equilibrium point of the system are studied and investigated. Next, we design a feedback control scheme for the purpose of chaos control and stabilization. Afterwards, we introduce an efficient active control method to achieve synchronization between two chaotic fractional biological oscillators. The efficiency of the proposed stabilizing and synchronizing controllers is verified via theoretical analysis as well as simulations and numerical experiments.

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