A Robust Control Approach for Double-Pendulum Overhead Cranes With Unknown Disturbances
A Robust Control Approach for Double-Pendulum Overhead Cranes With Unknown Disturbances
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DOI：
10.1109/icarm.2019.8833826
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发表时间：
2019-07
期刊：
影响因子：
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通讯作者：
Yiming Wu;Ning Sun;X. Liang;Yongchun Fang;Xin Xin-Xin
中科院分区：
文献类型：
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作者：
Yiming Wu;Ning Sun;X. Liang;Yongchun Fang;Xin Xin-Xin
在某些情况下，欠驱动桥式起重机系统会受到双摆效应的影响。对于双摆起重机系统，现有的研究大多采用开环控制方法，但这种方法对不确定性比较敏感。此外，大多数反馈控制器不考虑未建模动态或未知干扰。在实际应用中，这种不确定性会使控制环境变得不利，甚至导致控制失效。提出了一种双摆桥式起重机的鲁棒跟踪控制方法，实现了小车的精确运输，有效地消除了意外的残余摆动。理论上证明了系统的稳定性，数值仿真结果验证了系统对未知不确定性的鲁棒性。
In some situations, underactuated overhead crane systems suffer from double-pendulum effects. Until now, for double-pendulum crane systems, most existing studies propose open-loop approaches, which are generally sensitive to uncertainties. Also, most feedback controllers do not consider unmodeled dynamics or unknown disturbances. In practice, such uncertainties make the control environment unfavorable or even lead to control failure. This paper presents a robust tracking control for double-pendulum overhead cranes, which achieves accurate trolley transportation and effectively eliminates unexpected residual swings. The system stability is theoretically proven, and the satisfactory robustness against unknown uncertainties is verified through numerical simulation results.