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Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach
Author(s) -
Ouyang Huimin,
Xu Xiang,
Zhang Guangming
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4854
Subject(s) - control theory (sociology) , double pendulum , lyapunov function , inverted pendulum , controller (irrigation) , nonlinear system , pendulum , reduction (mathematics) , equilibrium point , mechanical system , adaptive control , boom , point (geometry) , control engineering , computer science , mathematics , control (management) , engineering , artificial intelligence , environmental engineering , agronomy , biology , mechanical engineering , physics , geometry , quantum mechanics
Summary Because of the existence of rotational boom motion, the load sway characteristics is more complex. In particular, when the sway presents double‐pendulum phenomenon, the design of the controller is more challenging. Furthermore, the uncertain parameters and external disturbances in crane system make it difficult for traditional control methods to obtain satisfactory control performance. Hence, this paper presents an adaptive nonlinear controller based on the dynamic model of double‐pendulum rotary crane. Unlike a traditional method, the proposed one does not need to linearize the crane system for controller design; therefore, the control performance can be guaranteed even if the system states are far away from the equilibrium point. By using Lyapunov technique and LaSalle's invariance theorem, it is strictly proved that the whole control system is asymptotically stable at the equilibrium point. The effectiveness of the presented controller is demonstrated via comparative simulations.