NDLI: Optimal trajectory planning and tracking control method for overhead cranes

Content Provider	IET Digital Library
Author	Chen, He Fang, Yongchun Sun, Ning
Abstract	In this study, a novel time-optimal off-line trajectory planning method, together with a tracking controller, is proposed for a two-dimensional (2D) underactuated overhead crane. Specifically, based on the differential flatness technique, a flat output of the system is firstly defined to deal with the coupling between the payload swing and trolley motion, whose trajectory is parameterised to be a B-spline curve with unknown parameters when considering the continuity and smoothness requirements. Various constraints, including swing bound, allowable trolley acceleration, and so on, are then taken into consideration to convert the parameters determination task into an optimisation problem, with the solution employed to construct a high-efficient trolley trajectory with an analytical expression. To enhance tracking performance, a non-linear tracking control law is subsequently designed based on the feedback linearisation technique, whose performance is ensured with theoretical analysis. Finally, some simulation and experimental results are included to demonstrate that the proposed trajectory planning/tracking scheme achieves satisfactory performance for underactuated cranes.
Starting Page	692
Ending Page	699
Page Count	8
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 6, Apr (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/6
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.0809
Journal	IET Control Theory & Applications
Publisher Date	2016-04-13
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	2D Underactuated Overhead Crane Allowable Trolley Acceleration B-spline Curve Control Application to Materials Handling Control System Analysis Control System Synthesis Control Technology And Theory Cranes Differential Flatness Technique Feedback Feedback Linearisation Technique High-efficient Trolley Trajectory Material Handling Equipment Nonlinear Control System Nonlinear Tracking Control Law Optimal Control Optimal Trajectory Planning Optimisation Optimisation Technique Overhead Crane Payload Swing Spatial Variables Control Synthesis Method Time-optimal Off-line Trajectory Planning Method Tracking Control Method Trajectory Control Trolley Motion Trolleys Two-dimensional Underactuated Overhead Crane Unknown Parameter
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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