Adaptive Tracking Control for Underactuated Double Pendulum Overhead Cranes With Variable Cable Length

Fuxing Yao1; Ai-Guo Wu2; Mehdi Golestani1; Derong Liu1; Guang-Ren Duan1,3; He Kong1

2024

10.1109/TCYB.2024.3388548

IEEE Transactions on Cybernetics   影响因子和分区

2168-2275

Although the literature on control of overhead crane systems is extensive and relatively mature, there is still a need to develop strategies that can simultaneously handle factors such as the double pendulum effect, variable cable length, input saturation, input dead zones, and external disturbances. This article is concerned with adaptive tracking control for underactuated overhead cranes in the presence of the above-mentioned challenging effects. The proposed controller is composed of the following two components. First, a tracking signal vector that effectively reduces system swing magnitudes is constructed to improve the transient performance and guarantee smooth operation of the system. Second, an adaptive law is designed to estimate and compensate for the overall effects of the friction, the external disturbances, and certain nonlinearities. The system stability has been proved rigorously via the Lyapunov method and Barbalat’s lemma. Extensions to the cases with input saturation and dead zones have also been discussed. Extensive numerical simulations have been conducted to verify the performance and robustness of the proposed controller, in comparison to some existing methods.

SCI

第一

1.Shenzhen Key Laboratory of Control Theory and Intelligent Systems, Southern University of Science and Technology, Shenzhen, China
2.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
3.Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, China

Fuxing Yao,Ai-Guo Wu,Mehdi Golestani,et al. Adaptive Tracking Control for Underactuated Double Pendulum Overhead Cranes With Variable Cable Length[J]. IEEE Transactions on Cybernetics,2024,PP(99).

Fuxing Yao,Ai-Guo Wu,Mehdi Golestani,Derong Liu,Guang-Ren Duan,&He Kong.(2024).Adaptive Tracking Control for Underactuated Double Pendulum Overhead Cranes With Variable Cable Length.IEEE Transactions on Cybernetics,PP(99).

Fuxing Yao,et al."Adaptive Tracking Control for Underactuated Double Pendulum Overhead Cranes With Variable Cable Length".IEEE Transactions on Cybernetics PP.99(2024).