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Passivity-based coupling control for underactuated three-dimensional overhead cranes.

Shengzeng Zhang1, Haiyue Zhu2, Xiongxiong He3

  • 1State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou 310027, China; Adaptive Robotics and Mechatronics Group, Singapore Institute of Manufacturing Technology, A*STAR, 138634, Singapore.

ISA Transactions
|August 11, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a new control method for 3-D overhead cranes, enhancing stability and reducing payload sway. The novel approach improves system passivity for better performance and robustness.

Keywords:
LaSalle’s invariance principleLyapunov techniqueNonlinear controlPassivityUnderactuated overhead cranes

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechanical Engineering

Background:

  • Overhead cranes are prone to payload oscillations, impacting efficiency and safety.
  • Existing passivity-based control methods have limitations in enhancing closed-loop system stability.

Purpose of the Study:

  • To develop a novel Lyapunov function candidate for controlling three-dimensional (3-D) overhead cranes.
  • To design a nonlinear controller that injects active damping and enhances closed-loop passivity.

Main Methods:

  • A new coupled-dissipation signal incorporating angular displacement and its integral is proposed.
  • The control design is extended using a hyperbolic tangent function to prevent overdriving the trolley.
  • Asymptotic stability is guaranteed using LaSalle's invariance principle.

Main Results:

  • The proposed controller significantly enhances closed-loop passivity, leading to effective suppression of payload oscillations.
  • Improved robustness and transit performance of the closed-loop system are demonstrated.
  • The controller effectively prevents overdriving the trolley.

Conclusions:

  • The novel Lyapunov-based controller offers superior performance in stabilizing 3-D overhead cranes.
  • The enhanced passivity and robustness make the controller suitable for practical applications.
  • Numerical simulations validate the effectiveness and stability of the proposed control strategy.