Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: A trajectory planning based controller to regulate an uncertain 3D overhead crane system
Contributor:
Clempner, Julio B. - ed. ; Ikonen, Enso - ed. ; Kurdyukov, Alexander P. - ed.
Subtitle:
Group publication title:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 29, number 4 (2019) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2019)
Last modified:
Jul 14, 2025
In our library since:
Jul 14, 2025
Number of object content hits:
8
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/101033
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 1 (2019)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 2 (2019)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 3 (2019)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 4 (2019)
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| Edition name | Date |
|---|---|
| A trajectory planning based controller to regulate an uncertain 3D overhead crane system | Jul 14, 2025 |
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