Load swing rejection for double-pendulum tower cranes using energy-shaping-based control with actuator output...

Area of Science:

• Engineering
• Control Systems
• Robotics

Background:

• Traditional tower crane control models simplify the system as a single-pendulum, neglecting the double-pendulum nature in practical scenarios with significant hook mass.
• Existing research often overlooks actuator limitations, where finite output torque/force significantly degrades control performance when limits are reached.

Purpose of the Study:

• To develop a robust nonlinear controller for tower cranes that accounts for double-pendulum dynamics and actuator constraints.
• To improve the dynamic characteristics analysis and controller design for tower cranes in real-world applications.

Main Methods:

• Simplification of the complex tower crane dynamic model.
• Application of a nonlinear controller based on energy-shaping principles.
• Stability analysis using Lyapunov techniques and LaSalle's invariance theorem.

Main Results:

• The proposed controller effectively addresses the complexities of double-pendulum dynamics in tower cranes.
• Demonstrated good control performance and robustness even when actuator output torque reaches its limit.
• Validated through extensive simulation results.

Conclusions:

• The energy-shaping nonlinear controller offers a significant advancement for tower crane control systems.
• The controller provides a stable and robust solution for practical tower crane operations, overcoming previous limitations.