Anti-Sway and Positioning Adaptive Control of a Double-Pendulum Effect Crane System With Neural Network Compensation

Cranes are widely used in the field of construction, logistics, and the manufacturing industry. Cranes that use wire ropes as the main lifting mechanism are deeply troubled by the swaying of heavy objects, which seriously restricts the working efficiency of the crane and even cause accidents. Compar...

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Bibliographic Details
Published in:Frontiers in robotics and AI 2021-04, Vol.8, p.639734-639734
Main Authors: Qiang, Hai-Yan, Sun, You-Gang, Lyu, Jin-Chao, Dong, Da-Shan
Format: Article
Language:English
Subjects:
adaptive control
anti-sway and positioning
double-pendulum
hardware in the loop
neural network
Robotics and AI
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Summary:Cranes are widely used in the field of construction, logistics, and the manufacturing industry. Cranes that use wire ropes as the main lifting mechanism are deeply troubled by the swaying of heavy objects, which seriously restricts the working efficiency of the crane and even cause accidents. Compared with the single-pendulum crane, the double-pendulum effect crane model has stronger nonlinearity, and its controller design is challenging. In this paper, cranes with a double-pendulum effect are considered, and their nonlinear dynamical models are established. Then, a controller based on the radial basis function (RBF) neural network compensation adaptive method is designed, and a stability analysis is also presented. Finally, the hardware-in-the-loop experimental results show that the neural network compensation control can effectively improve the control performance of the controller in practice.
ISSN:2296-9144
2296-9144
DOI:10.3389/frobt.2021.639734