An anti-sway positioning control method via load generalized position tracking with disturbance observer
The bridge crane system is widely used in the industrial production for transporting large loads. Its anti-sway positioning control is quite crucial for enhancing handling efficiency and safety, but it is also difficult due to underactuated dynamics and various disturbances. In this paper, an anti-s...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-11-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294020962133 |
| Summary: | The bridge crane system is widely used in the industrial production for transporting large loads. Its anti-sway positioning control is quite crucial for enhancing handling efficiency and safety, but it is also difficult due to underactuated dynamics and various disturbances. In this paper, an anti-sway positioning control algorithm for unmanned crane is proposed based on the load generalized position tracking control algorithm (GPTC), which combines with a disturbance observer to effectively reject the lumped disturbances. The test results show that the proposed method can effectively achieve anti-sway and positioning with prominent disturbance suppression improvements. |
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| ISSN: | 0020-2940 |