scholarly journals Research on Nonlinear Coupling Anti-Swing Control Method of Double Pendulum Gantry Crane Based on Improved Energy

Symmetry ◽  
2019 ◽  
Vol 11 (12) ◽  
pp. 1511 ◽  
Author(s):  
Huaitao Shi ◽  
Gang Li ◽  
Xin Ma ◽  
Jie Sun
Keyword(s):  
Control Method ◽  
External Disturbance ◽  
Control Signal ◽  
System Stability ◽  
Gantry Crane ◽  
Double Pendulum ◽  
Nonlinear Coupling ◽  
Closed Loop System ◽  
Motion System ◽  
New Energy

The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear coupling control method based on improved energy is proposed in this paper. We define coupled control signal among trolley, hook and payload. An improved energy storage function is established based on the new coupling control signal. Consequently, a nonlinear anti-swing controller is constructed straightforwardly, and the closed-loop system stability is subject to strict mathematics analysis by Lyapunov and LaSalle’ s theorem. Moreover, the new energy function based on the coupling behaving between the trolley motion and the payload swing leads to the improved control performance. Numerical simulation results show that the proposed method has better performance than traditional controllers. It not only effectively suppresses the swing of the load and the hook, but also precisely controls the displacement of the trolley. It has strong robustness to the displacement of the payload, the change of the gantry crane parameters and the external disturbance.

Research on Nonlinear Coupled Tracking Controller for Double Pendulum Gantry Cranes With Load Hoisting/lowering

2021 ◽  
Author(s):  
Huaitao Shi ◽  
Fuxing Yao ◽  
Zhe Yuan ◽  
Shenghao Tong ◽  
Yinghan Tang ◽  
...  
Keyword(s):  
External Disturbance ◽  
Good Control ◽  
System Stability ◽  
Gantry Crane ◽  
Double Pendulum ◽  
Theoretical Derivation ◽  
Pendulum Swing ◽  
Smooth Tracking ◽  
Load Swing ◽  
Gantry Cranes

Abstract Gantry cranes, which have attracted extensive attention, are mostly simplified as nonlinear single pendulum systems without load hoisting/lowering. However, in fact, due to the existence of the hook, gantry cranes produce double pendulum swing. With an extra underactuated degree of freedom, the anti-swing control of the double pendulum gantry cranes becomes more difficult than that of single pendulum gantry cranes, especially when load hoisting/lowering is considered simultaneously. Moreover, large swings, which lead to problems such as inaccurate positioning and low transportation efficiency, may be caused by double pendulum gantry cranes with load hoisting/lowering. In this paper, a nonlinear coupled tracking anti-swing controller is proposed to solve these problems. In this controller, a smooth tracking trajectory is introduced to ensure the stable start and run of the trolley, and a coupled signal is constructed to eliminate the residual swing angles of gantry crane system. The system stability is analyzed by using Lyapunov method and Barbarat theorem. Theoretical derivation, simulation and experimental results show that the proposed controller has excellent control performance, specifically, not only does it ensure accurate positioning of the load, but also it suppresses and eliminates the hook/load swing angle effectively. The proposed controller can still achieve good control effects and has strong robustness under the condition of changing the load mass, trolley target displacement, system initial swing angles and adding external disturbance.

scholarly journals Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV

Sensors ◽  
2018 ◽  
Vol 19 (1) ◽  
pp. 24 ◽  
Author(s):  
Jian Dong ◽  
Bin He
Keyword(s):  
Fuzzy Control ◽  
Iterative Learning Control ◽  
Control Method ◽  
External Disturbance ◽  
Learning Control ◽  
Iterative Learning ◽  
System Stability ◽  
Learning Gain ◽  
Control Precision ◽  
Quadrotor Aircraft

Due to the under-actuated and strong coupling characteristics of quadrotor aircraft, traditional trajectory tracking methods have low control precision, and poor anti-interference ability. A novel fuzzy proportional-interactive-derivative (PID)-type iterative learning control (ILC) was designed for a quadrotor unmanned aerial vehicle (UAV). The control method combined PID-ILC control and fuzzy control, so it inherited the robustness to disturbances and system model uncertainties of the ILC control. A new control law based on the PID-ILC algorithm was introduced to solve the problem of chattering caused by an external disturbance in the ILC control alone. Fuzzy control was used to set the PID parameters of three learning gain matrices to restrain the influence of uncertain factors on the system and improve the control precision. The system stability with the new design was verified using Lyapunov stability theory. The Gazebo simulation showed that the proposed design method creates effective ILC controllers for quadrotor aircraft.

scholarly journals Adaptive Finite-Time Congestion Control for Uncertain TCP/AQM Network with Unknown Hysteresis

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Weimin Zheng ◽  
Yanxin Li ◽  
Xiaowen Jing ◽  
Shangkun Liu
Keyword(s):  
Congestion Control ◽  
Finite Time ◽  
Neural Control ◽  
Closed Loop ◽  
Control Method ◽  
Transmission Control Protocol ◽  
External Disturbance ◽  
Closed Loop System ◽  
Transmission Control ◽  
Adaptive Neural Control

The issue of adaptive practical finite-time (FT) congestion control for the transmission control protocol/active queue management (TCP/AQM) network with unknown hysteresis and external disturbance is considered in this paper. A finite-time congestion controller is designed by the backstepping technique and the adaptive neural control method. This controller guarantees that the queue length tracks the desired queue in finite-time, and it is semiglobally practical finite-time stable (SGPFS) for all the signals of the closed-loop system. At last, the simulation results show that the control strategy is effective.

scholarly journals Comparison of Disturbance Compensators for a Discrete-Time System with Parameter Uncertainty

2020 ◽  
Vol 10 (18) ◽  
pp. 6219
Author(s):  
Zhongyi Guo ◽  
Haifeng Ma ◽  
Qinghua Song
Keyword(s):  
Discrete Time ◽  
Parameter Uncertainty ◽  
Closed Loop ◽  
Sliding Mode ◽  
External Disturbance ◽  
Comparative Investigation ◽  
Industrial Applications ◽  
System Stability ◽  
Discrete Time System ◽  
Closed Loop System

The control design for many industrial applications requires compensation for parameter uncertainty and external disturbance. Reported in many previous works, the parameter uncertainty and external disturbance are combined as a lumped disturbance, which is assumed to be smooth and bounded. However, for a discrete-time sliding mode control (DSMC) system, the above assumption may not hold. Here, the parameter uncertainty, along with its compensation in the DSMC system, are reconsidered and reevaluated. The influence of parameter uncertainty on the closed-loop system stability is first addressed. Then, the comparative investigation of the performance of six state-of-the-art disturbance compensators for parameter uncertainty compensation is conducted. Simulation results show that none of these compensators can effectively observe and compensate for the parameter uncertainty.

An Anti-Sway Controller’s Design of the Overhead Crane

2011 ◽  
Vol 328-330 ◽  
pp. 1868-1871
Author(s):  
Bin Yang ◽  
Lin Ma
Keyword(s):  
Control Method ◽  
Dimensional Space ◽  
Lagrange Equation ◽  
Three Dimensional ◽  
Transient State ◽  
Analytical Mechanics ◽  
Overhead Crane ◽  
Closed Loop System ◽  
Motion System ◽  
Three Dimensional Space

This paper detailedly illustrates how to design an anti-sway controller of overhead crane for eliminating pendulum of hook-headed. First of all the paper uses Lagrange Equation in analytical mechanics to obtain a mathematical model of crane motion system in three dimensional space. Then the paper advances a new control method and designs an anti-disturbance tracking controller based on servo-compensator and stabilization compensator for eliminating pendulum of hook-headed and accurately fixing position. In general, it is difficult to design an appropriate control law because of the crane motion system’s nonlinearity and strong coupling. However, the control method the paper put forward is simple and effective, and ensures the transient state performance of closed-loop system preferable and stable. The paper will introduce the design steps of anti-sway controller of overhead crane and give a satisfying simulation result, which are new and original in this paper.

Vibration attenuation of a two-link flexible arm carried by a translational stage

2018 ◽  
Vol 24 (23) ◽  
pp. 5650-5664 ◽  
Author(s):  
Shang–Teh Wu ◽  
Shan-Qun Tang ◽  
Kuan–Po Huang
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Flexible Manipulator ◽  
Closed Loop System ◽  
Flexible Arm ◽  
Vibration Attenuation ◽  
Shaft Encoder ◽  
High Frequency Vibrations ◽  
Spatial Derivatives ◽  
Derivatives Of

This paper investigates the vibration control of a two-link flexible manipulator carried by a translational stage. The first and the second links are each driven by a stage motor and a joint motor. By treating the joint motor as a virtual spring, the two-link manipulator can be regarded as an integral flexible arm driven by the stage motor. A noncollocated controller is devised based on feedback from the deflection of the virtual spring, which can be measured by a shaft encoder. Stability of the closed-loop system is analyzed by examining the spatial derivatives of the modal functions. By including a bandpass filter in the feedback loop, residual vibrations can be attenuated without exciting high-frequency vibrations. The control method is simple to implement; its effectiveness is confirmed by simulation and experimental results.

scholarly journals Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method

2018 ◽  
Vol 2018 ◽  
pp. 1-19
Author(s):  
Le Liang ◽  
Yanjie Liu ◽  
Hao Xu
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
External Disturbance ◽  
Backstepping Control ◽  
Adaptive Robust Control ◽  
Robot Dynamics ◽  
Adaptive Backstepping ◽  
Recycling Process ◽  
Adaptive Backstepping Control ◽  
Modeling Uncertainties

Multiobjective trajectory optimization and adaptive backstepping control method based on recursive fuzzy wavelet neural network (RFWNN) are proposed to solve the problem of dynamic modeling uncertainties and strong external disturbance of the rubber unstacking robot during recycling process. First, according to the rubber viscoelastic properties, the Hunt-Crossley nonlinear model is used to construct the robot dynamics model. Then, combined with the dynamic model and the recycling process characteristics, the multiobjective trajectory optimization of the rubber unstacking robot is carried out for the operational efficiency, the running trajectory smoothness, and the energy consumption. Based on the trajectory optimization results, the adaptive backstepping control method based on RFWNN is adopted. The RFWNN method is applied in the main controller to cope with time-varying uncertainties of the robot dynamic system. Simultaneously, an adaptive robust control law is developed to eliminate inevitable approximation errors and unknown disturbances and relax the requirement for prior knowledge of the controlled system. Finally, the validity of the proposed control strategy is verified by experiment.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Composite Nonlinear Feedback for Vehicle Active Front Steering

2014 ◽  
Vol 663 ◽  
pp. 127-134 ◽  
Author(s):  
M.H. Che Hasan ◽  
Y.M. Sam ◽  
Ke Mao Peng ◽  
Muhamad Khairi Aripin ◽  
Muhamad Fahezal Ismail
Keyword(s):  
Control Method ◽  
Actuator Saturation ◽  
External Disturbance ◽  
Reference Signal ◽  
Stability Control ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Active Front Steering ◽  
Yaw Stability ◽  
Fast Settling

In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) system for vehicle yaw stability control in order to have an excellent transient response performance. The control method, which has linear and nonlinear parts that work concurrently capable to track reference signal very fast with minimum overshoot, fast settling time, and without exceed nature of actuator saturation limit. Beside, modelling of 7 degree of freedom for typical passenger car with magic formula to represent tyre nonlinearity behaviour is also presented to simulate controlled vehicle as close as possible with a real situation. An extensive computer simulation is performed with considering a various profile of cornering manoeuvres with external disturbance to evaluate its performance in different scenarios. The performance of the proposed controller is compared to conventional Proportional Integration and Derivative (PID) for effectiveness analysis.

Sign in / Sign up

Export Citation Format

Share Document