Adaptive tracking controller design for double-pendulum tower cranes

In practical application, the payload swing of tower crane often presents double-pendulum characteristics, which makes it difficult to obtain good performance by existing control methods. Because of this, so far, there are few literatures about the anti-swing and positioning control of double-pendul...

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Bibliographic Details
Published in:Mechanism and machine theory 2020-11, Vol.153, p.103980, Article 103980
Main Authors: Ouyang, Huimin, Tian, Zheng, Yu, Lili, Zhang, Guangming
Format: Article
Language:English
Subjects:
Adaptive tracking method
Double-pendulum effect
Swing suppression
Tower crane
Underactuated system
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Summary:In practical application, the payload swing of tower crane often presents double-pendulum characteristics, which makes it difficult to obtain good performance by existing control methods. Because of this, so far, there are few literatures about the anti-swing and positioning control of double-pendulum tower cranes. At the same time, when the system model parameters are uncertain and there exist external disturbances, the design of the controller becomes more difficult. Therefore, a nonlinear adaptive tracking controller is designed to solve the above problems without a linearized crane model. The stability of this closed-loop control system is theoretically proved by the Lyapunov technique and LaSalle’s invariance theorem. After a large number of simulations, the proposed controller not only achieves good positioning and anti-swing performance, but also exhibits strong robustness to model parameter uncertainties and external disturbances.
ISSN:0094-114X
1873-3999
DOI:10.1016/j.mechmachtheory.2020.103980