Flatness-based motion planning and a sliding mode control with a extended state observer for a gantry crane: a novel approach to payload positioning problems

17 views

Authors

  • Bui Thi Khanh Hoa Hanoi University of Science and Technology
  • Hoang Thi Mai Hanoi University of Science and Technology
  • Luu Thi Hue Electric Power University
  • Nguyen Tung Lam Hanoi University of Science and Technology
  • Nguyen Danh Huy (Corresponding Author) Hanoi University of Science and Technology

DOI:

https://doi.org/10.54939/1859-1043.j.mst.FEE.2024.43-50

Keywords:

Crane; Flatness; Sliding mode control; Extended state observer.

Abstract

This study proposes to produce a time-optimal motion controller for a single pendulum crane system based on the theory of construction so that the system transfers the load to the desired position while reducing vibration with variable variable rope length. The dynamics of the system is constructed by applying the Euler-Lagrange method. In addition, to improve robustness and noise effects, the study used a fixed-time extended state observer (ESO) and a sliding mode control (SMC). ESO provides an accurate estimate of the state and total disturbances in a fixed time. The expected trajectory is obtained by solving the optimal parameters of the flat output.

References

[1]. J.-H. Montonen, N. Nevaranta, M. Niemela, and T. Lindh, “Comparison of ¨ extrainsensitive input shaping and swing-angle-estimation-based slew control approaches for a tower crane,” Applied Sciences, vol. 12, no. 12, p. 5945, (2022). DOI: https://doi.org/10.3390/app12125945

[2]. E. M. Abdel-Rahman, A. H. Nayfeh, and Z. N. Masoud, “Dynamics and control of cranes: A review,” Journal of Vibration and control, vol. 9, no. 7, pp. 863–908, (2003). DOI: https://doi.org/10.1177/1077546303009007007

[3]. Tuan L, Lee S, “Sliding mode controls of double-pendulum crane systems”Journal of Mechanical Science and Technology,1863-1873, 27(6), (2013). DOI: https://doi.org/10.1007/s12206-013-0437-8

[4]. Lu B, Fang Y, Sun N “Sliding mode control for underactuated overhead cranes suffering from both matched and unmatched disturbances.” Mechatronics, 47: 116–125, (2017). DOI: https://doi.org/10.1016/j.mechatronics.2017.09.006

[5]. Kwon, Dongwoo, Myunghwan Eom, and Dongkyoung Chwa. “Anti-sway control of the overhead crane system using HOSM observer.” Journal of Electrical Engineering & Technology 11.4: 1027-1034, (2016). DOI: https://doi.org/10.5370/JEET.2016.11.4.1027

[6]. Idrees, Muhammad. “Control of a Double-Pendulum Overhead Crane System Based on Hierarchical Sliding Mode Control Techniques.” Biophysical Reviews and Letters: 1-16, (2023). DOI: https://doi.org/10.1142/S1793048023410023

[7]. Lei, Meizhen, et al. “Super-twisting disturbance-observer-based nonlinear control of the overhead crane system.” Nonlinear Dynamics: 1-11, (2023). DOI: https://doi.org/10.1007/s11071-023-08596-3

[8]. Lv, Jixing, et al. “A fixed-time distributed extended state observer for uncertain second-order nonlinear system.” ISA transactions 138: 373-383, (2023). DOI: https://doi.org/10.1016/j.isatra.2023.02.016

[9]. Z. Wang, J. Zha, and J. Wang, “Autonomous vehicle trajectory following: A flatness model predictive control approach with hardware-in-the-loop verification,” IEEE Transactions on Intelligent Transportation Systems, vol. 22, no. 9, pp. 5613– 5623, (2020). DOI: https://doi.org/10.1109/TITS.2020.2987987

[10]. Z. Yu and W. Niu, “Flatness-based backstepping antisway control of underactuated crane systems under wind disturbance,” Electronics, vol. 12, no. 1, p. 244, (2023). DOI: https://doi.org/10.3390/electronics12010244

Published

06-12-2024

How to Cite

Bùi Thị Khánh Hòa, Hoàng Thị Mai, Lưu Thị Huế, Nguyễn Tùng Lâm, and Nguyễn Danh Huy. “Flatness-Based Motion Planning and a Sliding Mode Control With a Extended State Observer for a Gantry Crane: A Novel Approach to Payload Positioning Problems”. Journal of Military Science and Technology, no. FEE, Dec. 2024, pp. 43-50, doi:10.54939/1859-1043.j.mst.FEE.2024.43-50.

Issue

Section

Control – Automation