NDLI: Pseudospectral method based time optimal trajectory planning for double pendulum cranes

Content Provider	IEEE Xplore Digital Library
Author	Chen He Fang Yongchun Sun Ning Qian Yuzhe
Copyright Year	2015
Description	Author affiliation: Inst. of Robot. & Autom. Inf. Syst., Nankai Univ., Tianjin, China (Chen He; Fang Yongchun; Sun Ning; Qian Yuzhe)
Abstract	In practice, overhead crane systems are widely used while the common control methods are always designed based on the assumption that the payload can be regarded as a mass point, with the hook mass being ignored. In this situation, the crane system is seen as a single pendulum. When this assumption is not satisfied, the crane may behave like a double pendulum, which has more unactuated states and is more difficult to be controlled properly. Motivated by this observation, we present a time optimal trajectory planning scheme for double pendulum crane systems, which can yield a global optimal swing-free trajectory. Specifically, we first implement some basic transformations on the system dynamics. Then, various constraints, including upper and lower bounds of the two pendulum angles and the allowable trolley velocity and acceleration, are taken into consideration to obtain an optimization problem. After that, the Gauss-pseudospectral method (GPM) is utilized to convert the constrained optimization problem into a nonlinear programming problem, which can be solved more conveniently, while the trajectory constraints are also considered during the transformation. During the entire planning process, no linearization is required, which is different from most existing methods. Finally, numerical simulation results are given to illustrate the satisfactory performance of the proposed method.
Starting Page	4302
Ending Page	4307
File Size	177683
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260305
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Cranes System dynamics Double Pendulum Crane Trajectory Planning Gauss-Pseudospectral Method Trajectory Planning Acceleration Optimization Time Optimal Payloads
Content Type	Text
Resource Type	Article

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