Aguilar-Ibanez, Carlos ; Suarez-Castanon, Miguel S.
Contributor:Clempner, Julio B. - ed. ; Ikonen, Enso - ed. ; Kurdyukov, Alexander P. - ed.
Title:A trajectory planning based controller to regulate an uncertain 3D overhead crane system
Subtitle: Group publication title: Subject and Keywords:overhead crane ; adaptive control ; passivity ; trajectory planning ; Barbalat`s lemma
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
Date: Resource Type: DOI: Pages: Source:AMCS, volume 29, number 4 (2019) ; click here to follow the link
Language: License CC BY 4.0: Rights: