Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering

نویسندگان

چکیده

Gantry cranes have attracted extensive attention that are mostly simplified as nonlinear single pendulum systems without load hoisting/lowering. However, due to the existence of hook in practice, gantry produce double effect. With an extra underactuated degree freedom, anti-swing control becomes more difficult than cranes. Moreover, with hoisting/lowering may cause large swings, which lead inaccurate positioning and low transportation efficiency. In this paper, a novel coupled tracking controller is proposed solve these problems. The can ensure stable startup operation trolley by introducing smooth expected trajectory. addition, composite signal constructed suppress eliminate swing angles crane system. system stability analyzed utilizing Lyapunov techniques Barbalat’s lemma. Theoretical derivation, simulation experimental results indicate suppresses eliminates hook/load angle effectively. Furthermore, it achieve superior effects strong robustness against changes mass, target displacement, initial rope lengths, external disturbances.

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ژورنال

عنوان ژورنال: Nonlinear Dynamics

سال: 2022

ISSN: ['1573-269X', '0924-090X']

DOI: https://doi.org/10.1007/s11071-021-07185-6