title: Robust adaptive antiswing control of underactuated crane systems with two parallel payloads and rail length constraint.
abstract: The antiswing control and accurate positioning are simultaneously investigated for underactuated crane systems in the presence of two parallel payloads on the trolley and rail length limitation. The equations of motion for the crane system in question are established via the Euler-Lagrange equation. An adaptive control strategy is proposed with the help of system energy function and energy shaping technique. Stability analysis shows that under the designed adaptive controller, the payload swings can be suppressed ultimately and the trolley can be regulated to the destination while not exceeding the pre-specified boundaries. Simulation results are provided to show the satisfactory control performances of the presented control method in terms of working efficiency as well as robustness with respect to external disturbances.
authors.affiliation: Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation, Southeast University, Nanjing 210096, China. Electronic address: zhangzhongcai68@126.com.
authors.forename: Zhongcai
authors.initials: Z
authors.lastname: Zhang
authors.affiliation: Institute of Automation, Qufu Normal University, Rizhao 276826, China.
authors.forename: Yuqiang
authors.initials: Y
authors.lastname: Wu
authors.affiliation: Institute of Automation, Qufu Normal University, Rizhao 276826, China.
authors.forename: Jinming
authors.initials: J
authors.lastname: Huang
keywords: Antiswing control; Motion analysis; Parameter uncertainties; Rail length limitation; Underactuated systems