Sway and disturbance rejection control for varying rope tower cranes suffering from friction and unknown payload mass

Tower cranes are well-known underactuated systems, where the design of controllers for them with time-varying rope length was weak in the past because of their complex dynamic characteristic. The payload oscillation will become worse when the jib slew angle, the trolley position and the rope length are changed simultaneously. The proposed method is designed based on robust adaptive sliding mode control via tracking nonzero initial reference trajectories, in which frictions and lumped disturbances in the crane system are eliminated, and unknown payload mass is effectively estimated online. Lyapunov technique is combined with LaSalle’s invariance theorem to design controller and analyze stability. Various and strict simulations are applied, which validate the effectiveness and extreme robustness of the proposed method.

[1]  Hashem Ashrafiuon,et al.  Sliding mode control of underactuated multibody systems and its application to shape change control , 2008, Int. J. Control.

[2]  M. O. Tokhi,et al.  An optimal performance control scheme for a 3D crane , 2016 .

[3]  Domenico Guida,et al.  On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots , 2018, Archive of Applied Mechanics.

[4]  Xiongxiong He,et al.  Partially saturated coupled-dissipation control for underactuated overhead cranes , 2020 .

[5]  Xingfei Li,et al.  A Finite-Time Robust Adaptive Sliding Mode Control for Electro-Optical Targeting System With Friction Compensation , 2019, IEEE Access.

[6]  Ning Sun,et al.  Antiswing Cargo Transportation of Underactuated Tower Crane Systems by a Nonlinear Controller Embedded With an Integral Term , 2019, IEEE Transactions on Automation Science and Engineering.

[7]  Menghua Zhang,et al.  Adaptive sway reduction for tower crane systems with varying cable lengths , 2020 .

[8]  He Chen,et al.  Adaptive Nonlinear Crane Control With Load Hoisting/Lowering and Unknown Parameters: Design and Experiments , 2015, IEEE/ASME Transactions on Mechatronics.

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

[10]  Siyi Chen,et al.  Double Closed-loop Integral Terminal Sliding Mode for a Class of Underactuated Systems Based on Sliding Mode Observer , 2020, International Journal of Control, Automation and Systems.

[11]  Xiongxiong He,et al.  Energy coupled–dissipation control for 3-dimensional overhead cranes , 2020 .

[12]  Jian Huang,et al.  Sliding mode control with an extended disturbance observer for a class of underactuated system in cascaded form , 2017 .

[13]  Stefan Palis,et al.  Robust control for active damping of elastic gantry crane vibrations , 2019, Mechanical Systems and Signal Processing.

[14]  Tong Yang,et al.  Observer-Based Nonlinear Control for Tower Cranes Suffering From Uncertain Friction and Actuator Constraints With Experimental Verification , 2020, IEEE Transactions on Industrial Electronics.

[15]  Ning Sun,et al.  Nonlinear Motion Control of Underactuated Three-Dimensional Boom Cranes With Hardware Experiments , 2018, IEEE Transactions on Industrial Informatics.

[16]  Ning Sun,et al.  Enhanced-coupling adaptive control for double-pendulum overhead cranes with payload hoisting and lowering , 2019, Autom..

[17]  Soon-Geul Lee,et al.  Trajectory planning for overhead crane by trolley acceleration shaping , 2014 .

[18]  Gentiane Venture,et al.  Inverse dynamic control via “simulation of feedback control” by artificial neural networks for a crane system , 2020 .

[19]  Abdul Rashid Husain,et al.  Improved unity magnitude input shaping scheme for sway control of an underactuated 3D overhead crane with hoisting , 2019, Mechanical Systems and Signal Processing.

[20]  Walter Gil-González,et al.  Nonlinear analysis and control of a reaction wheel pendulum: Lyapunov-based approach , 2020 .

[21]  Mingwei Sun,et al.  Super-twisting sliding mode control for aircraft at high angle of attack based on finite-time extended state observer , 2020 .

[22]  Le Anh Tuan,et al.  Fractional-order fast terminal back-stepping sliding mode control of crawler cranes , 2019, Mechanism and Machine Theory.

[23]  Kazuhiko Terashima,et al.  Robust Control Designs of Payload’s Skew Rotation in a Boom Crane System , 2019, IEEE Transactions on Control Systems Technology.

[24]  Xin Deng,et al.  Novel Adaptive Hierarchical Sliding Mode Control for Trajectory Tracking and Load Sway Rejection in Double-Pendulum Overhead Cranes , 2019, IEEE Access.

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

[26]  Le Anh Tuan,et al.  3D cooperative control of tower cranes using robust adaptive techniques , 2017, J. Frankl. Inst..

[27]  Yuqiang Wu,et al.  Differential-flatness-based finite-time anti-swing control of underactuated crane systems , 2017 .

[28]  H. Yabuno,et al.  Motion control of a flexible underactuated manipulator using resonance in a flexible active arm , 2020 .

[29]  Lei Wang,et al.  Adaptive control of uncertain underactuated cranes with a non-recursive control scheme , 2019, J. Frankl. Inst..

[30]  Hui Lü,et al.  Tackling mismatched uncertainty in robust constraint-following control of underactuated systems , 2020, Inf. Sci..

[31]  Menghua Zhang,et al.  Adaptive integral sliding mode control with payload sway reduction for 4-DOF tower crane systems , 2020, Nonlinear Dynamics.

[32]  Ning Sun,et al.  Sliding mode control for underactuated overhead cranes suffering from both matched and unmatched disturbances , 2017 .

[33]  Mohamed Hamdy,et al.  Experimental verification of a hybrid control scheme with chaotic whale optimization algorithm for nonlinear gantry crane: A comparative study. , 2019, ISA transactions.

[34]  Jing Na,et al.  USDE-Based Sliding Mode Control for Servo Mechanisms With Unknown System Dynamics , 2020, IEEE/ASME Transactions on Mechatronics.

[35]  Robert Seifried,et al.  Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design , 2013 .

[36]  Xue Li,et al.  Anti-swing control for 2-D under-actuated cranes with load hoisting/lowering: A coupling-based approach. , 2019, ISA transactions.

[37]  Kurt Schlacher,et al.  Time-optimal flatness based control of a gantry crane , 2017 .

[38]  Mehmet Önder Efe,et al.  Efficient swing control of an overhead crane with simultaneous payload hoisting and external disturbances , 2020 .

[39]  He Chen,et al.  An adaptive tracking control method with swing suppression for 4-DOF tower crane systems , 2019, Mechanical Systems and Signal Processing.

[40]  Bin Liang,et al.  Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot , 2020, Nonlinear Dynamics.

[41]  Mircea-Bogdan Radac,et al.  Sliding Mode Control Algorithms for Anti-Lock Braking Systems with Performance Comparisons , 2021, Algorithms.

[42]  Xianqing Wu,et al.  Disturbance-observer-based nonlinear control for overhead cranes subject to uncertain disturbances , 2020 .

[43]  Le Anh Tuan,et al.  Adaptive neural network sliding mode control of shipboard container cranes considering actuator backlash , 2018, Mechanical Systems and Signal Processing.