A New Antiswing Control Method for Underactuated Cranes With Unmodeled Uncertainties: Theoretical Design and Hardware Experiments

In practice, cranes often suffer from various unfavorable factors, such as extraneous disturbances and friction. Moreover, there are always some unmodeled uncertainties that are difficult to be described with accurate mathematical expressions. These practical problems bring much challenge for control development and may induce instability unless suitably tackled. In this paper, in terms of the aforementioned problems, we suggest a new antiswing control scheme for underactuated gantry cranes. In particular, we construct an elaborate manifold and then present a nonlinear control law that keeps the system state always staying on the manifold. Without any approximation operations to the original nonlinear model, it is rigorously proven that the state variables converge to the equilibrium point when they are on the manifold. The developed control system is robust due to the specific control structure. Hardware experiments are included, which suggest that the proposed scheme achieves superior control performance over existing methods, and it shows strong robustness to unmodeled uncertainties and external disturbances.

[1]  Marco A. Moreno-Armendáriz,et al.  Anti-swing control with hierarchical fuzzy CMAC compensation for an overhead crane , 2007, 2007 IEEE 22nd International Symposium on Intelligent Control.

[2]  Gook-Hwan Kim,et al.  Partial feedback linearization control of a three-dimensional overhead crane , 2012, International Journal of Control, Automation and Systems.

[3]  Xin Xin,et al.  Reduced-order stable controllers for two-link underactuated planar robots , 2013, Autom..

[4]  Jamil M. Renno,et al.  A General Anti-swing Fuzzy Controller for an Overhead Crane with Hoisting , 2006, 2006 IEEE International Conference on Fuzzy Systems.

[5]  Woojin Chung,et al.  The Detection and Following of Human Legs Through Inductive Approaches for a Mobile Robot With a Single Laser Range Finder , 2012, IEEE Transactions on Industrial Electronics.

[6]  Tianyou Chai,et al.  Neural-Network-Friction Compensation-Based Energy Swing-Up Control of Pendubot , 2014, IEEE Transactions on Industrial Electronics.

[7]  T. Kalmár-Nagy,et al.  Nonlinear Stability of a Delayed Feedback Controlled Container Crane , 2007 .

[8]  Tong Heng Lee,et al.  Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot , 2014, IEEE Transactions on Industrial Electronics.

[9]  Hiroshi Kinjo,et al.  Feedback controller with nonlinear compensator optimized by genetic algorithm for rotary crane system , 2009, 2009 ICCAS-SICE.

[10]  Jan Swevers,et al.  A model predictive control approach for time optimal point-to-point motion control , 2011 .

[11]  Carlos Balaguer,et al.  Anti-Swinging Input Shaping Control of an Automatic Construction Crane , 2008, IEEE Transactions on Automation Science and Engineering.

[12]  Guoqiang Hu,et al.  Lyapunov-Based Tracking Control in the Presence of Uncertain Nonlinear Parameterizable Friction , 2007, IEEE Transactions on Automatic Control.

[13]  Kiyoshi Ohishi,et al.  Anti Sway Crane Control Based on Sway Angle Observer with Sensor-Delay Correction , 2009 .

[14]  Naoki Uchiyama,et al.  Robust control of rotary crane by partial-state feedback with integrator , 2009 .

[15]  Long Cheng,et al.  Adaptive Control of an Electrically Driven Nonholonomic Mobile Robot via Backstepping and Fuzzy Approach , 2009, IEEE Transactions on Control Systems Technology.

[16]  Alessandro Pisano,et al.  Load swing suppression in the 3-dimensional overhead crane via second-order sliding-modes , 2010, 2010 11th International Workshop on Variable Structure Systems (VSS).

[17]  Cheng-Yuan Chang,et al.  Adaptive Fuzzy Controller of the Overhead Cranes With Nonlinear Disturbance , 2007, IEEE Transactions on Industrial Informatics.

[18]  Ho-Hoon Lee Motion planning for three-dimensional overhead cranes with high-speed load hoisting , 2005 .

[19]  Kiyoshi Ohishi,et al.  Anti-sway crane control based on dual state observer with sensor-delay correction , 2010, 2010 11th IEEE International Workshop on Advanced Motion Control (AMC).

[20]  Keum Shik Hong An open-loop control for underactuated manipulators using oscillatory inputs: steering capability of an unactuated joint , 2002, IEEE Trans. Control. Syst. Technol..

[21]  Cheng-Yuan Chang,et al.  Fuzzy projection control law and its application to the overhead crane , 2008 .

[22]  Mostafa Ghayour,et al.  Sensorless anti-swing control for overhead crane using voltage and current measurements , 2015 .

[23]  Harald Aschemann Passivity-Based Control of an Overhead Travelling Crane , 2008 .

[24]  Ning Sun,et al.  Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs , 2013, Autom..

[25]  Jianqiang Yi,et al.  Adaptive sliding mode fuzzy control for a two-dimensional overhead crane , 2005 .

[26]  Keum-Shik Hong,et al.  Command Shaping Control for Limiting the Transient Sway Angle of Crane Systems , 2003 .

[27]  Xin Xin,et al.  Analysis of the energy‐based swing‐up control of the Acrobot , 2007 .

[28]  Keum-Shik Hong,et al.  Adaptive sliding mode control of container cranes , 2012 .

[29]  Tong Heng Lee,et al.  A Robust Real-Time Embedded Vision System on an Unmanned Rotorcraft for Ground Target Following , 2012, IEEE Transactions on Industrial Electronics.

[30]  Ning Sun,et al.  New Energy Analytical Results for the Regulation of Underactuated Overhead Cranes: An End-Effector Motion-Based Approach , 2012, IEEE Transactions on Industrial Electronics.

[31]  Chun-Chieh Chang,et al.  Design and Development of Mamdani-Like Fuzzy Control Algorithm for a Wheeled Human-Conveyance Vehicle Control , 2012, IEEE Transactions on Industrial Electronics.

[32]  Warren E. Dixon,et al.  Nonlinear coupling control laws for an underactuated overhead crane system , 2003 .

[33]  N Uchiyama,et al.  Robust control for overhead cranes by partial state feedback , 2009 .

[34]  Mahmud Iwan Solihin,et al.  Fuzzy-tuned PID Anti-swing Control of Automatic Gantry Crane , 2010 .

[35]  Yangmin Li,et al.  Smooth Path Planning of a Mobile Robot Using Stochastic Particle Swarm Optimization , 2006, 2006 International Conference on Mechatronics and Automation.

[36]  Harald Aschemann Passivity-Based Trajectory Control of an Overhead Crane by Interconnection and Damping Assignment , 2009 .

[37]  Michael H. Kenison,et al.  Input Shaping Control of Double-Pendulum Bridge Crane Oscillations , 2008 .

[38]  Guangjun Liu,et al.  Active Model-Based Predictive Control and Experimental Investigation on Unmanned Helicopters in Full Flight Envelope , 2013, IEEE Transactions on Control Systems Technology.

[39]  Mahmut Reyhanoglu,et al.  Nonlinear Control Of Wheeled Mobile Robots , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[40]  Ali H. Nayfeh,et al.  Dynamics and Control of Cranes: A Review , 2003 .

[41]  Kuang Shine Yang,et al.  Adaptive coupling control for overhead crane systems , 2007 .

[42]  William E. Singhose,et al.  Command-induced vibration analysis using input shaping principles , 2008, Autom..

[43]  Jozsef K. Tar,et al.  Adaptive Tackling of the Swinging Problem for a 2 DOF Crane – Payload System , 2010 .

[44]  Cheng-Yuan Chang,et al.  Real-Time Visual Tracking and Measurement to Control Fast Dynamics of Overhead Cranes , 2012, IEEE Transactions on Industrial Electronics.

[45]  D. Dawson,et al.  Nonlinear control of an overhead crane via the saturating control approach of Teel , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[46]  En Li,et al.  Energy-based balance control approach to the ball and beam system , 2009, Int. J. Control.

[47]  Yangmin Li,et al.  Real-Time Tip-Over Prevention and Path Following Control for Redundant Nonholonomic Mobile Modular Manipulators via Fuzzy and Neural-Fuzzy Approaches , 2006 .

[48]  Naif B. Almutairi,et al.  Sliding Mode Control of a Three-dimensional Overhead Crane , 2009 .

[49]  Naif B. Almutairi,et al.  On the sliding mode control of a Ball on a Beam system , 2009 .

[50]  Ning Sun,et al.  Transportation task-oriented trajectory planning for underactuated overhead cranes using geometric analysis , 2012 .

[51]  K. Hong,et al.  A Feedback Linearization Control of Container Cranes: Varying Rope Length , 2007 .

[52]  Roberto Caracciolo,et al.  Moving the suspended load of an overhead crane along a pre-specified path: A non-time based approach , 2014 .

[53]  Dongkyoung Chwa Nonlinear Tracking Control of 3-D Overhead Cranes Against the Initial Swing Angle and the Variation of Payload Weight , 2009, IEEE Transactions on Control Systems Technology.

[54]  Romeo Ortega,et al.  Total energy-shaping IDA-PBC control of the 2D-SpiderCrane , 2010, 49th IEEE Conference on Decision and Control (CDC).

[55]  Shigenori Sano,et al.  Simple rotary crane dynamics modeling and open-loop control for residual load sway suppression by only horizontal boom motion , 2013 .

[56]  Kouhei Ohnishi,et al.  Load Swing Suppression for Rotary Crane System Using Direct Gradient Descent Controller Optimized by Genetic Algorithm , 2009 .

[57]  Mehrdad Saif,et al.  Output Feedback Controller Design for a Class of MIMO Nonlinear Systems Using High-Order Sliding-Mode Differentiators With Application to a Laboratory 3-D Crane , 2008, IEEE Transactions on Industrial Electronics.

[58]  Cheng-Yuan Chang,et al.  Efficient Visual Feedback Method to Control a Three-Dimensional Overhead Crane , 2014, IEEE Transactions on Industrial Electronics.

[59]  Carlos Vázquez,et al.  Control of a Parametrically Excited Crane: A Vector Lyapunov Approach , 2013, IEEE Transactions on Control Systems Technology.

[60]  Ali H. Nayfeh,et al.  Sway Reduction on Container Cranes Using Delayed Feedback Controller , 2003 .

[61]  Yudong Zhang,et al.  A Novel Kinematic Coupling-Based Trajectory Planning Method for Overhead Cranes , 2012, IEEE/ASME Transactions on Mechatronics.

[62]  Warren E. Dixon,et al.  Nonlinear Control of Wheeled Mobile Robots , 2001 .