An integrated solution for 3D overhead cranes: Time-optimal motion planning, obstacle avoidance, and anti-swing

IF 5.1 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Engineering Science and Technology-An International Journal-Jestech Pub Date : 2024-11-01 DOI:10.1016/j.jestch.2024.101852

Van Chung Nguyen , Hue Luu Thi , Hoa Bui Thi Khanh , Huy Nguyen Danh , Dai Pham Duc , Tung Lam Nguyen

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Abstract

This paper proposed a motion planning scheme, a nonlinear controller integrated with an observer for a three-dimensional overhead crane (3DOC) nonlinear system. The designed motion planning considering system constraints and providing time-optimal, collision-free navigation in three dimensions is presented. Furthermore, the 3DOC system is characterized as a highly nonlinear, uncertain system and is always heavily influenced by external disturbances, the system variables are also partially measured using sensors. To solve all these problems, a second-order sliding controller (SO-SMC) based on an extended state observer (ESO) is formulated to solve the problem of uncertainty, disturbance, and furnishing a state estimation mechanism for the 3DOC nonlinear system. The closed-loop system, which consists of the extended state observer and the second-order sliding control stability, is verified via Lyapunov’s stability. Comprehensive simulations, experiments, and comparisons with existing methods are conducted under four cases with the presence of obstacles to demonstrate the observer’s quality and showcase the effectiveness of the proposed methods.

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3D 桥式起重机集成解决方案：时间优化运动规划、避障和防摆动

本文为三维桥式起重机（3DOC）非线性系统提出了一种运动规划方案、一个集成了观测器的非线性控制器。所设计的运动规划考虑了系统约束条件，并能在三维空间内提供时间最优、无碰撞的导航。此外，三维桥式起重机系统是一个高度非线性、不确定的系统，总是受到外部干扰的严重影响，系统变量也部分是通过传感器测量的。为了解决所有这些问题，本文提出了一种基于扩展状态观测器（ESO）的二阶滑动控制器（SO-SMC），以解决不确定性和干扰问题，并为 3DOC 非线性系统提供一种状态估计机制。由扩展状态观测器和二阶滑动控制稳定性组成的闭环系统通过 Lyapunov 稳定性得到了验证。在存在障碍物的四种情况下进行了全面的模拟、实验，并与现有方法进行了比较，以证明观测器的质量并展示所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Engineering Science and Technology-An International Journal-Jestech Materials Science-Electronic, Optical and Magnetic Materials

CiteScore

11.20

自引率

3.50%

发文量

153

审稿时长

22 days

期刊介绍： Engineering Science and Technology, an International Journal (JESTECH) (formerly Technology), a peer-reviewed quarterly engineering journal, publishes both theoretical and experimental high quality papers of permanent interest, not previously published in journals, in the field of engineering and applied science which aims to promote the theory and practice of technology and engineering. In addition to peer-reviewed original research papers, the Editorial Board welcomes original research reports, state-of-the-art reviews and communications in the broadly defined field of engineering science and technology. The scope of JESTECH includes a wide spectrum of subjects including: -Electrical/Electronics and Computer Engineering (Biomedical Engineering and Instrumentation; Coding, Cryptography, and Information Protection; Communications, Networks, Mobile Computing and Distributed Systems; Compilers and Operating Systems; Computer Architecture, Parallel Processing, and Dependability; Computer Vision and Robotics; Control Theory; Electromagnetic Waves, Microwave Techniques and Antennas; Embedded Systems; Integrated Circuits, VLSI Design, Testing, and CAD; Microelectromechanical Systems; Microelectronics, and Electronic Devices and Circuits; Power, Energy and Energy Conversion Systems; Signal, Image, and Speech Processing) -Mechanical and Civil Engineering (Automotive Technologies; Biomechanics; Construction Materials; Design and Manufacturing; Dynamics and Control; Energy Generation, Utilization, Conversion, and Storage; Fluid Mechanics and Hydraulics; Heat and Mass Transfer; Micro-Nano Sciences; Renewable and Sustainable Energy Technologies; Robotics and Mechatronics; Solid Mechanics and Structure; Thermal Sciences) -Metallurgical and Materials Engineering (Advanced Materials Science; Biomaterials; Ceramic and Inorgnanic Materials; Electronic-Magnetic Materials; Energy and Environment; Materials Characterizastion; Metallurgy; Polymers and Nanocomposites)