Loading...
Please wait, while we are loading the content...
Similar Documents
Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects
| Content Provider | SAGE Publishing |
|---|---|
| Author | Zhang, Menghua Zhang, Yongfeng Ji, Bing Ma, Changhui Cheng, Xingong |
| Copyright Year | 2019 |
| Abstract | As typical underactuated systems, tower crane systems present complicated nonlinear dynamics. For simplicity, the payload swing is traditionally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the payload mass, or the size of the payload is large, a tower crane may exhibit double-pendulum effects. In addition, existing control methods assume that the hook and the payload only swing in a plane. To tackle the aforementioned practical problems, we establish the dynamical model of the tower cranes with double-pendulum and spherical-pendulum effects. Then, on this basis, an energy-based controller is designed and analyzed using the established dynamic model. To further obtain rapid hook and payload swing suppression and elimination, the swing part is introduced to the energy-based controller. Lyapunov techniques and LaSalle’s invariance theorem are provided to demonstrate the asymptotic stability of the closed-loop system and the convergence of the system states. Simulation results are illustrated to verify the correctness and effectiveness of the designed controller. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/0020294019877492?download=true |
| Starting Page | 141 |
| Ending Page | 150 |
| Page Count | 10 |
| ISSN | 00202940 |
| Issue Number | 1-2 |
| Volume Number | 53 |
| Journal | Measurement and Control (MAC) |
| DOI | 10.1177/0020294019877492 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2019-11-28 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2019 |
| Subject Keyword | convergence energy-based control Modeling spherical-pendulum effect double-pendulum effect |
| Content Type | Text |
| Resource Type | Article |
| Subject | Applied Mathematics Control and Optimization Instrumentation |
