Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 136, Issue -, Pages -Publisher
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2019.106449
Keywords
Underactuated mechanical systems; Overhead cranes; Nonlinear control; Passivity; Energy shaping; Partial saturation
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Funding
- National Natural Science Foundation of China [61873239, 61403343, 61703369]
- Natural Science Foundation of Zhejiang Province [LY17F030018]
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This paper proposes a partially saturated nonlinear controller for underactuated overhead cranes based on passivity. The main contribution is that the total energy shaping method yields an assignable storage function which is characterized by a desired damping matrix and especially quadratic in a new error vector of the coupling form. Consequently, a partially saturated nonlinear controller enforcing the coupled-dissipation inequality is derived to introduce additional damping terms to the sway angle, thus guaranteeing favorable transit performance. Owing to the elaborate structure of the coupled-dissipation term, the control system can achieve significant oscillation reduction over a wide range of cable lengths and transportation distances without readjusting the control gains. Besides the Lyapunov theory, LaSalle's invariance principle is carried illustrating the corresponding stability. The proposed controller is evaluated through both simulation and experimental results that demonstrate the improved performance and robustness. (C) 2019 Elsevier Ltd. All rights reserved.
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