{"title":"A tracking control method with the fast finite-time command filter for four degrees of freedom tower cranes","authors":"Cungen Liu, Shuo Meng, Xiaoping Liu, Yajing Zhao, Huanqing Wang, Chengdong Li","doi":"10.1177/01423312241259066","DOIUrl":null,"url":null,"abstract":"Tower cranes are the main tool of the horizontal and vertical transportation for construction, which are always driven by operators slowly to prevent payloads from large swing, such that efficiency is low. To deal with the problem, a finite-time tracking control method based on fast command filters is proposed, which can eliminate the tracking error in finite time and restrain the swing at the same time. The asymptotic stability is proved by Lyapunov technique. Finally, the hardware experiment is carried out and compared with the existing methods on the self-built tower crane experimental platform, and the pole placement method is used to select control parameters. The effectiveness and superiority are verified by the experimental results.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.7000,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transactions of the Institute of Measurement and Control","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/01423312241259066","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Tower cranes are the main tool of the horizontal and vertical transportation for construction, which are always driven by operators slowly to prevent payloads from large swing, such that efficiency is low. To deal with the problem, a finite-time tracking control method based on fast command filters is proposed, which can eliminate the tracking error in finite time and restrain the swing at the same time. The asymptotic stability is proved by Lyapunov technique. Finally, the hardware experiment is carried out and compared with the existing methods on the self-built tower crane experimental platform, and the pole placement method is used to select control parameters. The effectiveness and superiority are verified by the experimental results.
期刊介绍:
Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.