NDLI: Adaptive control of underactuated crane systems subject to bridge length limitation and parametric uncertainties

Content Provider	IEEE Xplore Digital Library
Author	Sun Ning Fang Yongchun Chen He
Copyright Year	2014
Description	Author affiliation: Inst. of Robot. & Autom. Inf. Syst., Nankai Univ., Tianjin, China (Sun Ning; Fang Yongchun; Chen He)
Abstract	In real-world applications, cranes usually suffer from parametric uncertainties, such as unknown friction, cart mass, load mass, and wire length. Moreover, existing crane control methods cannot guarantee the motion scope of the cart, since merely asymptotic results, at best, can be obtained due to the underactuated nature. Due to unexpected overshoots, existing methods, if not well tuned, may drive the cart to go beyond the scope of the bridge. In this paper we consider the control problem for underactuated bridge crane systems by considering the aforementioned two points and present an adaptive nonlinear control law. The control framework is established by total energy shaping, and a novel additional term is introduced into the controller to prevent the cart from running out of the permitted range. Lyapunov-based analysis is utilized to prove asymptotic stability of the closed-loop system's equilibrium point. Numerical simulation results suggest that the proposed method can achieve superior control performance over existing methods while ensuring the cart motion range limitation, in the presence of uncertain plant parameters.
Starting Page	3568
Ending Page	3573
File Size	160692
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6895532
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Bridges Cranes Uncertainty Friction Simulation Lyapunov Method Control systems Underactuated Cranes Bridge Length Limitation Swing Elimination Stability analysis
Content Type	Text
Resource Type	Article

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