Transportation and swing reduction for double-pendulum tower cranes using partial enhanced-coupling nonlinear controller with initial saturation

被引：22

作者：

Tian, Zheng ^{[1
]}

Yu, Lili ^{[1
]}

Ouyang, Huimin ^{[1
]}

Zhang, Guangming ^{[1
]}

机构：

[1] Nanjing Tech Univ, Coll Elect Engn & Control Sci, 30 Puzhu Rd S, Nanjing 211816, Peoples R China

来源：

ISA TRANSACTIONS | 2021年 / 112卷

基金：

中国国家自然科学基金;

关键词：

Underactuated system; Tower crane; Double-pendulum effect; Swing reduction; Partial enhanced-coupling control; SLIDING-MODE CONTROL; OVERHEAD CRANE; SYSTEMS; SYNCHRONIZATION; SUPPRESSION; PERFORMANCE;

D O I：

10.1016/j.isatra.2020.11.028

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Achieving both jib and trolley positioning and swing reduction become more difficult when tower cranes appear double-pendulum characteristic in dynamic. Moreover, in actual applications, the initial output value of actuators is usually physically constrained and the model uncertainties and external disturbances always exist. To solve these problems, a partial enhanced-coupling nonlinear controller with initial saturation is designed and analyzed by Lyapunov technique and LaSalle's invariance theorem. The control performance and strong robustness are severally verified by lots of simulations. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：122 / 136

页数：15

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