Abstract
In this paper, we consider the application of the disturbance observer technique and interconnection and damping assignment passivity-based control to the disturbance estimation and regulation control of underactuated overhead crane systems. In particular, based on the super-twisting sliding mode control technology, a finite time disturbance estimator is presented, which can identify uncertain disturbances exactly in finite time. Next, we obtain an equivalent system and an auxiliary control input in terms of the partial feedback linearization methodology, and a desired storage function with assigned characteristics is established. On the basis of the matching conditions, we derive the desired storage function by solving two ordinary differential equations, without necessity of solving partial differential equations. Subsequently, a novel disturbance-observer-based nonlinear controller is derived, and rigorous theoretical analysis is given to prove that all of the states of the closed-loop system asymptotically converge to the origin. Experimental tests are carried out to illustrate the disturbance estimation and regulation performance of the presented control law. In addition, to demonstrate the excellent robustness of the presented controller, a comparison study is included as well.
Similar content being viewed by others
Data availability
The datasets generated and analyzed during the current study are available from the corresponding author on reasonable request.
Notes
Recalling that \(\frac{\partial V_d}{\partial {\varvec{q}}}=\left[ \frac{\partial V_d}{\partial q_1} ~~ \frac{\partial V_d}{\partial q_2} \right] ^{\mathrm T}\) in this paper.
The lemma is the core of the forthcoming energy shaping, which obviates the need for solving the PDE of (32).
References
Wu, Y., et al.: New adaptive dynamic output feedback control of double-pendulum ship-mounted cranes with accurate gravitational compensation and constrained inputs. IEEE Trans. Ind. Electron. 69(9), 9196–9205 (2022)
Liu, Z., et al.: Collaborative antiswing hoisting control for dual rotary cranes with motion constraints. IEEE Trans. Ind. Inform. 18(9), 6120–6130 (2022)
Yu, H., et al.: Adaptive trajectory tracking control for the quadrotor aerial transportation system landing a payload onto the mobile platform. IEEE Trans. Ind. Inform. (2023). https://doi.org/10.1109/TII.2023.3256374
Tuan, L.A.: Neural observer and adaptive fractional-order backstepping fast-terminal sliding-mode control of RTG cranes. IEEE Trans. Ind. Electron. 68(1), 434–442 (2021)
Liang, X., et al.: Antiswing control for aerial transportation of the suspended cargo by dual quadrotor UAVs. IEEE/ASME Trans. Mechatron. 27(6), 5159–5172 (2022)
Liang, X., et al.: Unmanned aerial transportation system with flexible connection between the quadrotor and the payload: modeling, controller design, and experimental validation. IEEE Trans. Ind. Electron. 70(2), 1870–1882 (2023)
Shi, H.-T., et al.: Nonlinear anti-swing control of underactuated tower crane based on improved energy function. Int. J. Control Autom. Syst. 19(12), 3967–3982 (2021)
Wu, X., et al.: Output feedback control for an underactuated benchmark system with bounded torques. Asian J. Control 23(3), 1466–1475 (2021)
ur Rehman, S.M.F., et al.: Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations. Mech. Syst. Signal Proc. 175, 109106 (2022)
Jaafar, H.I., et al.: Model reference command shaping for vibration control of multimode flexible systems with application to a double-pendulum overhead crane. Mech. Syst. Signal Proc. 115, 677–695 (2019)
Lu, B., et al.: Online antiswing trajectory planning for a practical rubber tire container gantry crane. IEEE Trans. Ind. Electron. 69(6), 6193–6203 (2022)
Chen, Q., et al.: Inverse motion planning method for overhead crane systems with state constraints. Asian J. Control (2022). https://doi.org/10.1002/asjc.2988
Peng, H., et al.: Interval estimation and optimization for motion trajectory of overhead crane under uncertainty. Nonlinear Dyn. 96(2), 1693–1715 (2019)
Li, G., et al.: Optimal trajectory planning strategy for underactuated overhead crane with pendulum-sloshing dynamics and full-state constraints. Nonlinear Dyn. 109, 815–835 (2022)
Tho, H.D., Kaneshige, A., Terashima, K.: Minimum-time S-curve commands for vibration-free transportation of an overhead crane with actuator limits. Control Eng. Pract. 98, 104390 (2020)
Zhao, B., Ouyang, H., Iwasaki, M.: Motion trajectory tracking and sway reduction for double-pendulum overhead cranes using improved adaptive control without velocity feedback. IEEE/ASME Trans. Mechatron. 27(5), 3648–3659 (2022)
Zhang, M., et al.: Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles. Mech. Syst. Signal Proc. 84, 268–285 (2017)
Shen, P.-Y., Schatz, J., Caverly, R.J.: Passivity-based adaptive trajectory control of an underactuated 3-DOF overhead crane. Control Eng. Pract. 112, 104834 (2021)
Wu, X., He, X.: Enhanced damping-based anti-swing control method for underactuated overhead cranes. IET Control Theory Appl. 9(12), 1893–1900 (2015)
Wu, X., He, X.: Nonlinear energy-based regulation control of three-dimensional overhead cranes. IEEE Trans. Autom. Sci. Eng. 14(2), 1297–1308 (2017)
Rong, B., et al.: Dynamics analysis and fuzzy anti-swing control design of overhead crane system based on Riccati discrete time transfer matrix method. Multibody Syst. Dyn. 43(3), 279–295 (2018)
Miao, X., et al.: Trolley regulation and swing reduction of underactuated double-pendulum overhead cranes using fuzzy adaptive nonlinear control. Nonlinear Dyn. 109, 837–847 (2022)
Li, M., Chen, H., Zhang, R.: An input dead zones considered adaptive fuzzy control approach for double pendulum cranes with variable rope lengths. IEEE/ASME Trans. Mechatron. 27(5), 3385–3396 (2022)
Zhang, Z., Wu, Y., Huang, J.: Differential-flatness-based finite-time anti-swing control of underactuated crane systems. Nonlinear Dyn. 87(3), 1749–1761 (2017)
Xing, X., Yang, H., Liu, J.: Vibration control for nonlinear overhead crane bridge subject to actuator failures and output constraints. Nonlinear Dyn. 101, 419–438 (2020)
Shi, H., et al.: Research on nonlinear coupled tracking controller for double pendulum gantry cranes with load hoisting/lowering. Nonlinear Dyn. 108, 223–238 (2022)
Huang, J., Wang, W., Zhou, J.: Adaptive control design for underactuated cranes with guaranteed transient performance: theoretical design and experimental verification. IEEE Trans. Ind. Electron. 69(3), 2822–2832 (2022)
Gu, X., Xu, W.: Moving sliding mode controller for overhead cranes suffering from matched and unmatched disturbances. Trans. Inst. Meas. Control 44(1), 60–75 (2022)
Guo, Q., Chai, L., Liu, H.: Anti-swing sliding mode control of three-dimensional double pendulum overhead cranes based on extended state observer. Nonlinear Dyn. (2023). https://doi.org/10.1007/s11071-022-07859-9
Kim, T.D., et al.: Adaptive neural network hierarchical sliding mode control for six degrees of freedom overhead crane. Asian J. Control (2022). https://doi.org/10.1002/asjc.2961
Le, H.X., et al.: Adaptive hierarchical sliding mode control using neural network for uncertain 2D overhead crane. Int. J. Dyn. Control 7(3), 996–1004 (2019)
Miranda-Colorado, R.: Robust observer-based anti-swing control of 2D-crane systems with load hoisting-lowering. Nonlinear Dyn. 104, 3581–3596 (2021)
Zhang, M., Zhang, Y., Cheng, X.: Finite-time trajectory tracking control for overhead crane systems subject to unknown disturbances. IEEE Access 7, 55974–55982 (2019)
Lu, B., Fang, Y., Sun, N.: Sliding mode control for underactuated overhead cranes suffering from both matched and unmatched disturbances. Mechatronics 47, 116–125 (2017)
Zhang, Z., Li, L., Wu, Y.: Disturbance-observer-based antiswing control of underactuated crane systems via terminal sliding mode. IET Control Theory Appl. 12(18), 2588–2594 (2018)
Wu, X., et al.: Disturbance-compensation-based continuous sliding mode control for overhead cranes with disturbances. IEEE Trans. Autom. Sci. Eng. 17(4), 2182–2189 (2020)
Wu, X., Xu, K., He, X.: Disturbance-observer-based nonlinear control for overhead cranes subject to uncertain disturbances. Mech. Syst. Signal Proc. 139, 106631 (2020)
Wang, L., Wu, X., Lei, M.: Feedforward-control-based nonlinear control for overhead cranes with matched and unmatched disturbances. Proc. Inst. Mech. Eng. Part C-J. Eng. Mech. Eng. Sci. 236(11), 5785–5795 (2022)
Acosta, J.A., et al.: Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one. IEEE Trans. Autom. Control 50(12), 1936–1955 (2005)
Moreno, J.A., Osorio, M.: Strict Lyapunov functions for the super-twisting algorithm. IEEE Trans. Autom. Control 57(4), 1035–1040 (2012)
Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice Hall, Upper Saddle River (2002)
Funding
This work was supported by the Natural Science Foundation of Zhejiang Province (LY22F030014) and the National Natural Science Foundation of China (61803339).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest regarding the publication of this article.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Lei, M., Wu, X., Zhang, Y. et al. Super-twisting disturbance-observer-based nonlinear control of the overhead crane system. Nonlinear Dyn 111, 14015–14025 (2023). https://doi.org/10.1007/s11071-023-08596-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-023-08596-3