TY - JOUR
T1 - A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System
AU - Aguilar-Ibanez, Carlos
AU - Suarez-Castanon, Miguel S.
N1 - Publisher Copyright:
© 2019 Carlos Aguilar-Ibanez et al., published by Sciendo 2019.
PY - 2020/12/1
Y1 - 2020/12/1
N2 - 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.
AB - 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.
KW - Barbalat's lemma
KW - adaptive control
KW - overhead crane
KW - passivity
KW - trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=85078095949&partnerID=8YFLogxK
U2 - 10.2478/amcs-2019-0051
DO - 10.2478/amcs-2019-0051
M3 - Artículo
AN - SCOPUS:85078095949
SN - 1641-876X
VL - 29
SP - 693
EP - 702
JO - International Journal of Applied Mathematics and Computer Science
JF - International Journal of Applied Mathematics and Computer Science
IS - 4
ER -