Differential-flatness-based finite-time anti-swing control of underactuated crane systems

详细信息    查看全文

• 作者：Zhongcai Zhang ; Yuqiang Wu ; Jinming Huang
• 关键词：Underactuated systems ; Differential flatness ; Finite ; time convergence ; Motion planning ; Swing suppression
• 刊名：Nonlinear Dynamics
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：87
• 期：3
• 页码：1749-1761
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems, Control; Classical Mechanics; Mechanical Engineering; Automotive Engineering;
• 出版者：Springer Netherlands
• ISSN：1573-269X
• 卷排序：87

文摘

In this paper, we consider the finite-time regulation controller for the underactuated crane systems in 2-dimensional (2D) space with both constant cable length and varying cable length. The differential-flatness-based approach is applied to the development of finite-time control laws. The elegantly designed controller can simultaneously suppress the payload swing and regulate the trolley to the desired destination within a finite time for the 2D bridge crane system in the case of constant cable length. Considering cable length variation, the flatness-based tracking controller is presented meticulously in a separately two-step program. Specifically, the finite-time technique is first used to achieve the simultaneous motion regulation and payload swing suppression and elimination within a finite time. Then, we propose a Lyapunov-based tracking control method, under which the cable can track a predefined trajectory. Simulation results are provided to demonstrate both the efficiency and the robustness against external disturbances of the addressed control algorithms.