scholarly journals Model Predictive Trajectory Control for High-Speed Rack Feeders

10.5772/9920 ◽  
2010 ◽  
Author(s):  
Harald Aschemann ◽  
Dominik Schindele
Keyword(s):  
High Speed ◽  
Trajectory Control

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

2006 ◽  
Vol 128 (4) ◽  
pp. 842-845 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Yi Liang ◽  
Del Segura
Keyword(s):  
High Frequency ◽  
High Speed ◽  
Sliding Mode ◽  
Trajectory Control ◽  
Overhead Cranes ◽  
Damping Control ◽  
Control Scheme ◽  
Planning Scheme ◽  
Load Swing ◽  
High Frequency Sampling

In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based on the Lyapunov stability theorem, where a sliding surface, coupling the trolley motion with load swing, is adopted for a direct damping control of load swing. The proposed control guarantees asymptotic stability while keeping all internal signals bounded. In association with a new antiswing motion planning scheme, the proposed control realizes a typical antiswing trajectory control in practice, allowing high-speed load-hoisting motion and sufficient damping of load swing. The proposed control is simple for a real-time implementation with high-frequency sampling. The effectiveness of the proposed control has been confirmed by experiments.

High-speed trajectory control of a direct-drive manipulator

1993 ◽  
Vol 9 (1) ◽  
pp. 102-108 ◽  
Author(s):  
K. Youcef-Toumi ◽  
A.T.Y. Kuo
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Direct Drive

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Experimental Study

2010 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Yi Liang
Keyword(s):  
Experimental Study ◽  
High Speed ◽  
Trajectory Control ◽  
Overhead Cranes ◽  
Preliminary Study ◽  
Theoretical Results

The objective of this study is to solve serious robustness problems in the anti-swing trajectory control of overhead cranes caused by unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. Based on the theoretical results in the preliminary study, this paper experimentally shows that the proposed anti-swing control solves this robustness problem due to the usual mechanical inaccuracies and installation errors in application.

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