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Adaptive tracking of double pendulum crane with payload hoisting/lowering
https://orcid.org/0000-0001-6356-1655
Highlights Proper tracking performance and swing suppression objectives are achieved. Unknown gravity parameters are accurately estimated to avoid errors. The effectiveness is proved theoretically and verified by experiments.
Abstract This paper focuses on the tracking control problem of double pendulum crane systems with payload hoisting/lowering. Some gravity parameters, such as payload masses, are difficult to be accurately measured, which may cause steady positioning errors. To deal with this difficult problem, we propose an effective adaptive tracking controller. By using the proposed method, accurate tracking and double pendulum swing suppression objectives are achieved, and unknown gravity parameters are also accurately estimated by an elaborately designed estimation method, which are verified by simulations and experiments. This work would improve the adaption of transporting payloads with different masses for double pendulum cranes. In our future work, this method would be extended to solve control problems of 3D (3 dimensional) double pendulum cranes.
Adaptive tracking of double pendulum crane with payload hoisting/lowering
https://orcid.org/0000-0001-6356-1655
Highlights Proper tracking performance and swing suppression objectives are achieved. Unknown gravity parameters are accurately estimated to avoid errors. The effectiveness is proved theoretically and verified by experiments.
Abstract This paper focuses on the tracking control problem of double pendulum crane systems with payload hoisting/lowering. Some gravity parameters, such as payload masses, are difficult to be accurately measured, which may cause steady positioning errors. To deal with this difficult problem, we propose an effective adaptive tracking controller. By using the proposed method, accurate tracking and double pendulum swing suppression objectives are achieved, and unknown gravity parameters are also accurately estimated by an elaborately designed estimation method, which are verified by simulations and experiments. This work would improve the adaption of transporting payloads with different masses for double pendulum cranes. In our future work, this method would be extended to solve control problems of 3D (3 dimensional) double pendulum cranes.
Adaptive tracking of double pendulum crane with payload hoisting/lowering
https://orcid.org/0000-0001-6356-1655
Highlights Proper tracking performance and swing suppression objectives are achieved. Unknown gravity parameters are accurately estimated to avoid errors. The effectiveness is proved theoretically and verified by experiments.
Abstract This paper focuses on the tracking control problem of double pendulum crane systems with payload hoisting/lowering. Some gravity parameters, such as payload masses, are difficult to be accurately measured, which may cause steady positioning errors. To deal with this difficult problem, we propose an effective adaptive tracking controller. By using the proposed method, accurate tracking and double pendulum swing suppression objectives are achieved, and unknown gravity parameters are also accurately estimated by an elaborately designed estimation method, which are verified by simulations and experiments. This work would improve the adaption of transporting payloads with different masses for double pendulum cranes. In our future work, this method would be extended to solve control problems of 3D (3 dimensional) double pendulum cranes.
Adaptive tracking of double pendulum crane with payload hoisting/lowering
Zhang, Wa (author) / Chen, He (author) / Yao, Xinya (author) / Li, Delin (author)
2022-05-15
Article (Journal)
Electronic Resource
English
| European Patent Office | 2024