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Paper details
Number 4 - December 2019
Volume 29 - 2019
A trajectory planning based controller to regulate an uncertain 3D overhead crane system
Carlos Aguilar-Ibanez, Miguel S. Suarez-Castanon
Abstract
We introduce a control strategy to solve the regulation control problem, from the perspective of trajectory planning, for
an uncertain 3D overhead crane. The proposed solution was developed based on an adaptive control approach that takes
advantage of the passivity properties found in this kind of systems. We use a trajectory planning approach to preserve the
accelerations and velocities inside of realistic ranges, to maintaining the payload movements as close as possible to the
origin. To this end, we carefully chose a suitable S-curve based on the Bezier spline, which allows us to efficiently handle
the load translation problem, considerably reducing the load oscillations. To perform the convergence analysis, we applied
the traditional Lyapunov theory, together with Barbalat’s lemma. We assess the effectiveness of our control strategy with
convincing numerical simulations.
Keywords
overhead crane, adaptive control, passivity, trajectory planning, Barbalat’s lemma