Energy-shaping-based nonlinear controller design for rotary cranes with double-pendulum effect considering actuator saturation
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DOI: 10.1016/j.autcon.2019.103054
Abstract: Abstract Dynamic performance analysis and controller design become more difficult when the load sway in rotary cranes exhibits double-pendulum characteristics. Furthermore, uncertain parameters and external disturbances in the crane system make it difficult for traditional… read more here.
Keywords: energy shaping; controller design; actuator saturation; controller ... See more keywords
Collaborative Antiswing Hoisting Control for Dual Rotary Cranes With Motion Constraints
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DOI: 10.1109/tii.2021.3137343
Abstract: With large load capacity and flexible payload attitude adjustment capability, dual rotary cranes (DRCs) play crucial roles in infrastructure construction with heavy hoisting demands. However, as a kind of collaborative control systems, DRCs have complex… read more here.
Keywords: dual rotary; collaborative antiswing; rotary cranes; antiswing hoisting ... See more keywords