Control of a 2D-crane system with payload swing attenuation: An observer-based prescribed-time approach

IF 4.4 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Applied Mathematical Modelling Pub Date : 2025-05-28 DOI:10.1016/j.apm.2025.116226

Roger Miranda-Colorado , Jesús A. Rodríguez-Arellano , Luis T. Aguilar

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引用次数: 0

Abstract

A crane system has a variety of applications in industry and for research purposes. However, this system is underactuated and is always affected by disturbances, which compromises the controller design stage. Then, this work develops a new control scheme to control two-dimensional (2D) perturbed overhead cranes. The new proposal separates the controller into two parts. The first controller component is utilized to compensate for disturbances. The second control consists of a switching controller combining a variable-gain scheme and a variable-structure methodology. The new proposal attains prescribed-time convergence for the unperturbed case and asymptotic convergence for the perturbed case. Extensive simulations demonstrate that the tracking errors exhibit low values with low power demands under different initial conditions and matched and unmatched disturbances while payload oscillations are attenuated effectively. Besides, experiments demonstrate the superiority of the novel control methodology with the lowest tracking errors in the trolley and rope; also, payload variations are reduced to half of the value obtained with the best of the controllers used for comparison, demonstrating the appealing features of the new proposal.

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具有有效载荷摆动衰减的2d起重机系统控制：基于观测器的规定时间方法

起重机系统在工业和研究中有各种各样的应用。然而，该系统是欠驱动的，并且总是受到干扰的影响，这危及了控制器的设计阶段。在此基础上，提出了一种新的二维摄动桥式起重机控制方案。新方案将控制器分成两部分。第一控制器组件用于补偿干扰。第二种控制由一个结合变增益方案和变结构方法的开关控制器组成。该方法在非摄动情况下具有规定时间收敛性，在摄动情况下具有渐近收敛性。大量的仿真结果表明，在不同初始条件和匹配干扰和不匹配干扰下，跟踪误差在低功耗条件下呈现低值，有效地抑制了载荷振荡。实验结果表明，该控制方法具有小车和绳索跟踪误差最小的优越性；此外，有效载荷变化减少到与用于比较的最佳控制器获得的值的一半，展示了新建议的吸引人的特征。

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

Applied Mathematical Modelling 数学-工程：综合

CiteScore

9.80

自引率

8.00%

发文量

508

审稿时长

43 days

期刊介绍： Applied Mathematical Modelling focuses on research related to the mathematical modelling of engineering and environmental processes, manufacturing, and industrial systems. A significant emerging area of research activity involves multiphysics processes, and contributions in this area are particularly encouraged. This influential publication covers a wide spectrum of subjects including heat transfer, fluid mechanics, CFD, and transport phenomena; solid mechanics and mechanics of metals; electromagnets and MHD; reliability modelling and system optimization; finite volume, finite element, and boundary element procedures; modelling of inventory, industrial, manufacturing and logistics systems for viable decision making; civil engineering systems and structures; mineral and energy resources; relevant software engineering issues associated with CAD and CAE; and materials and metallurgical engineering. Applied Mathematical Modelling is primarily interested in papers developing increased insights into real-world problems through novel mathematical modelling, novel applications or a combination of these. Papers employing existing numerical techniques must demonstrate sufficient novelty in the solution of practical problems. Papers on fuzzy logic in decision-making or purely financial mathematics are normally not considered. Research on fractional differential equations, bifurcation, and numerical methods needs to include practical examples. Population dynamics must solve realistic scenarios. Papers in the area of logistics and business modelling should demonstrate meaningful managerial insight. Submissions with no real-world application will not be considered.