An Enhanced Coupling Nonlinear Tracking Controller for Underactuated 3D Overhead Crane Systems

2017 ◽  
Vol 20 (5) ◽  
pp. 1839-1854 ◽  
Author(s):  
Menghua Zhang ◽  
Xin Ma ◽  
Xuewen Rong ◽  
Rui Song ◽  
Xincheng Tian ◽  
...  
Keyword(s):  
Overhead Crane ◽  
Tracking Controller ◽  
Nonlinear Tracking

scholarly journals Finite-time Tracking Control with Velocity Constraints for the Stochastic Rehabilitative Training Walker System Considering Different Rehabilitee Masses

2021 ◽  
Author(s):  
Ping Sun ◽  
Shuoyu Wang ◽  
Rui Shan
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Control Method ◽  
Stochastic Dynamic ◽  
Predictive Algorithm ◽  
Tracking Controller ◽  
Nonlinear Tracking ◽  
Simulation And Experiment ◽  
Velocity Constraints ◽  
Velocity Constraint

Abstract This study discusses a finite-time tracking controller for a rehabilitative training walker that imposes velocity constraints. The walker was described using a stochastic model through which the rehabilitee mass can randomly change, and a velocity constraint method was proposed to control the velocity input to every omniwheel based on a model predictive algorithm. This approach is novel in that the velocity constraint information obtained from the kinematics model was used to design the tracking controller based on the stochastic dynamic model, thus successfully constraining the actual velocity of walker as per the stochastic system. The nonlinear tracking controller was built for the stochastic rehabilitative walker to make the system’s finite time stable. Also, simulation and experiment were performed, and results confirmed that the proposed tracking control method with velocity constraints is very effective, so it may enable various rehabilitees to train safely.

scholarly journals Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations

2016 ◽  
Vol 7 (1) ◽  
pp. 27 ◽  
Author(s):  
Anh-Huy Vo ◽  
Quoc-Toan Truong ◽  
Ha-Quang-Thinh Ngo ◽  
Quoc-Chi Nguyen
Keyword(s):  
Tracking Control ◽  
Overhead Crane ◽  
Nonlinear Tracking
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