Journal
NONLINEAR DYNAMICS
Volume -, Issue -, Pages -Publisher
SPRINGER
DOI: 10.1007/s11071-023-08881-1
Keywords
Bridge cranes; Coupling behavior; Extended state observer; Transient performance; Robustness
Categories
Ask authors/readers for more resources
In this study, an enhanced coupled nonlinear control strategy based on feedforward compensation was proposed to improve the performance of bridge crane control methods. Composite signals were introduced to enhance the coupling between the system states and improve the transient performance of the controller. The effectiveness of the proposed method was verified through simulation and experimental results.
Anti-swing control of bridge cranes has been widely studied to improve the efficiency of industrial transportation. However, in practice, the performance of bridge crane control methods is reduced by external disturbances and internal uncertainties. Therefore, an enhanced coupled nonlinear control strategy based on feedforward compensation has been proposed in this study. Appropriate composite signals were introduced to enhance the coupling between the system states and improve the transient performance of the controller. The design of the composite signal takes into account the characteristics of crane model. The unknown disturbance was then treated as a state variable, and the crane dynamic model was transformed accordingly. Finally, the state of the model was estimated by the extended state observer, and the disturbance estimate was compensated to improve the robustness of the control system. The stability of the controller was verified through a rigorous mathematical analysis. The simulation and experimental results verified the effectiveness of the proposed method.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available