TY - JOUR
T1 - Robust observer-based anti-swing control of 2D-crane systems with load hoisting-lowering
AU - Miranda-Colorado, Roger
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive licence to Springer Nature B.V.
PY - 2021/6
Y1 - 2021/6
N2 - A new model-free robust control scheme for payload swing angle attenuation of two-dimensional crane systems with varying rope length is introduced in this work. The proposed controller consists of a proportional derivative controller, a disturbance observer, and a compensation term that includes a coupling function. A proper design of the coupling function allows attenuating the magnitude of the swing angle, while the disturbance observer permits reducing the effect of internal and external disturbances. Then, a rigorous stability analysis demonstrates that the proposed controller allows the system to follow a desired translational motion and hoisting/lowering the load with small payload oscillations despite the adverse effects caused by internal and external disturbances. In the proposed scheme, a stage devoted to the design of the reference signal is also encompassed. The new methodology is compared to a robust controller and an adaptive scheme. Exhaustive numerical simulations demonstrate that the new controller’s performance outperforms the other control techniques, despite the presence of endogenous and exogenous disturbances.
AB - A new model-free robust control scheme for payload swing angle attenuation of two-dimensional crane systems with varying rope length is introduced in this work. The proposed controller consists of a proportional derivative controller, a disturbance observer, and a compensation term that includes a coupling function. A proper design of the coupling function allows attenuating the magnitude of the swing angle, while the disturbance observer permits reducing the effect of internal and external disturbances. Then, a rigorous stability analysis demonstrates that the proposed controller allows the system to follow a desired translational motion and hoisting/lowering the load with small payload oscillations despite the adverse effects caused by internal and external disturbances. In the proposed scheme, a stage devoted to the design of the reference signal is also encompassed. The new methodology is compared to a robust controller and an adaptive scheme. Exhaustive numerical simulations demonstrate that the new controller’s performance outperforms the other control techniques, despite the presence of endogenous and exogenous disturbances.
KW - Control of underactuated systems
KW - Observer-based control
KW - Payload-swing attenuation
KW - Trajectory design
KW - Two-dimensional crane system
UR - http://www.scopus.com/inward/record.url?scp=85105198058&partnerID=8YFLogxK
U2 - 10.1007/s11071-021-06443-x
DO - 10.1007/s11071-021-06443-x
M3 - Artículo
AN - SCOPUS:85105198058
SN - 0924-090X
VL - 104
SP - 3581
EP - 3596
JO - Nonlinear Dynamics
JF - Nonlinear Dynamics
IS - 4
ER -