A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

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    Abstract

    We introduce a control strategy to solve the regulation control problem, from the perspective of trajectory planning, for an uncertain 3D overhead crane. The proposed solution was developed based on an adaptive control approach that takes advantage of the passivity properties found in this kind of systems. We use a trajectory planning approach to preserve the accelerations and velocities inside of realistic ranges, to maintaining the payload movements as close as possible to the origin. To this end, we carefully chose a suitable S-curve based on the Bezier spline, which allows us to efficiently handle the load translation problem, considerably reducing the load oscillations. To perform the convergence analysis, we applied the traditional Lyapunov theory, together with Barbalat's lemma. We assess the effectiveness of our control strategy with convincing numerical simulations.

    Original languageEnglish
    Pages (from-to)693-702
    Number of pages10
    JournalInternational Journal of Applied Mathematics and Computer Science
    Volume29
    Issue number4
    DOIs
    Publication statusPublished - 1 Dec 2020

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    Keywords

    • adaptive control
    • Barbalat's lemma
    • overhead crane
    • passivity
    • trajectory planning

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