<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

Research Center for Computation, National Polytechnic Institute

Higher School of Computing, National Polytechnic Institute

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

We introduce a control strategy to solve the regulation control problem, from the perspective of trajectory planning, for an uncertain 3D overhead crane. The...

A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

Publicado en línea: 31 dic 2019

Páginas: 693 - 702

Recibido: 13 dic 2018

Aceptado: 10 ago 2019

DOI: https://doi.org/10.2478/amcs-2019-0051

Palabras clave
overhead crane, adaptive control, passivity, trajectory planning, Barbalat’s lemma

© 2019 Carlos Aguilar-Ibanez et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

A Trajectory Planning Based Controller to Regulate an Uncertain 3D Overhead Crane System

Publicado en línea: 31 dic 2019

Páginas: 693 - 702

Recibido: 13 dic 2018

Aceptado: 10 ago 2019

DOI: https://doi.org/10.2478/amcs-2019-0051

Palabras claveoverhead crane, adaptive control, passivity, trajectory planning, Barbalat’s lemma

© 2019 Carlos Aguilar-Ibanez et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Palabras clave
overhead crane, adaptive control, passivity, trajectory planning, Barbalat’s lemma