Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 10, Issue 6, Pages 692-699Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2015.0809
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Funding
- National Science and Technology Pillar Program of China [2013BAF07B03]
- National Natural Science Foundation of China [11372144, 61503200]
- National Science Foundation of Tianjin [15JCQNJC03800]
- National Science Fund for Distinguished Young Scholars of China [61325017]
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In this study, a novel time-optimal off-line trajectory planning method, together with a tracking controller, is proposed for a two-dimensional (2D) underactuated overhead crane. Specifically, based on the differential flatness technique, a flat output of the system is firstly defined to deal with the coupling between the payload swing and trolley motion, whose trajectory is parameterised to be a B-spline curve with unknown parameters when considering the continuity and smoothness requirements. Various constraints, including swing bound, allowable trolley acceleration, and so on, are then taken into consideration to convert the parameters determination task into an optimisation problem, with the solution employed to construct a high-efficient trolley trajectory with an analytical expression. To enhance tracking performance, a non-linear tracking control law is subsequently designed based on the feedback linearisation technique, whose performance is ensured with theoretical analysis. Finally, some simulation and experimental results are included to demonstrate that the proposed trajectory planning/tracking scheme achieves satisfactory performance for underactuated cranes.
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