Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 84, Issue -, Pages 268-285Publisher
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2016.07.028
Keywords
Overhead crane; Underactuated system; Error trajectory; LaSalle's invariance theorem; Lyapunov techniques; Initial payload swing angle
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Funding
- National High-tech Research and Development (863 Program) of China [2015AA042307]
- Shandong Province Science & Technology Development Foundation, China [2014GGE27572]
- Shandong Provincial Independent Innovation & Achievement Transformation Special Foundation, China [2014ZZCX04302, 2014ZZCX04303, 2015ZDXX0101E01]
- Fundamental Research Funds of Shandong University, China [2015JC027, 2015JC051]
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This paper exploits an error tracking control method for overhead crane systems for which the error trajectories for the trolley and the payload swing can be pre-specified. The proposed method does not require that the initial payload swing angle remains zero, whereas this requirement is usually assumed in conventional methods. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different or uncertain rope lengths, payload masses, desired positions, initial payload swing angles, and external disturbances. Owing to the same attenuation behavior, the desired error trajectory for the trolley for each traveling distance is not needed to be reset, which is easy to implement in practical applications. By converting the error tracking overhead crane dynamics to the objective system, we obtain the error tracking control law for arbitrary initial payload swing angles. Lyapunov techniques and LaSalle's invariance theorem are utilized to prove the convergence and stability of the closed-loop system. Simulation and experimental results are illustrated to validate the superior performance of the proposed error tracking control method. (C) 2016 Elsevier Ltd. All rights reserved.
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