Rapid and restricted swing control via adaptive output feedback for 5-DOF tower crane systems

Menghua Zhang; Xingjian Jing; Zengcheng Zhou; Mingxu Sun

doi:10.1016/j.ymssp.2024.111283

Rapid and restricted swing control via adaptive output feedback for 5-DOF tower crane systems

Menghua Zhang
, Xingjian Jing^*
, Zengcheng Zhou
, Mingxu Sun

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

38 Citations (Scopus)

2 Downloads (CityUHK Scholars)

Abstract

Crane swing & relevant vibration are critical safety and efficiency issues to be addressed in construction automation, involving various disturbance and uncertainties. This paper presents for the first time a controller designed for 5-DOF tower crane systems with no velocity signals, and its effectiveness is experimentally verified. Compared to previous controllers, the new design utilizes an adaptive output feedback control method with accurate online gravity compensation, which solves the problems of unavailability velocity, noise amplification by numerical difference, and steady state error of cable in tower crane control. Additionally, the saturated control inputs are guaranteed by employing bounded functions. The results of this study unveil that the controller proposed in this paper can simultaneously achieve accurate trolley/jib/cable positioning, rapid payload swing suppression and elimination, as well as precise payload mass estimation, and guarantee control inputs constraints. This study provides a new approach for accurate control of tower crane systems. © 2024 Elsevier Ltd.

Original language	English
Article number	111283
Journal	Mechanical Systems and Signal Processing
Volume	212
Online published	27 Feb 2024
DOIs	https://doi.org/10.1016/j.ymssp.2024.111283
Publication status	Published - 15 Apr 2024

Funding

This work was supported in part by the National Natural Science Foundation of China under Grant No. 62273163, the Taishan Scholar Foundation of Shandong Province, the Outstanding Youth Foundation of Shandong Province under Grant No. ZR2023YQ056, the Startup Fund of City University of Hong Kong under Grant No. 9380140, the NSFC/RGC project (CityU 11202323), the general research fund of HK RGC (N_CityU114/23), and the Key R&D Project of Shandong Province under Grant No. 2022CXGC010503.

Research Keywords

Adaptive control
Gravity compensation
Output feedback control
Saturated control input
Tower crane

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COPYRIGHT TERMS OF DEPOSITED POSTPRINT FILE: © 2024 Elsevier. This manuscript version is made available under the CC-BY-NC-ND 4.0 license https://creativecommons.org/licenses/by-nc-nd/4.0/.

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@article{17967cf4d3ca4e47a0c54281a57d6033,

title = "Rapid and restricted swing control via adaptive output feedback for 5-DOF tower crane systems",

abstract = "Crane swing \& relevant vibration are critical safety and efficiency issues to be addressed in construction automation, involving various disturbance and uncertainties. This paper presents for the first time a controller designed for 5-DOF tower crane systems with no velocity signals, and its effectiveness is experimentally verified. Compared to previous controllers, the new design utilizes an adaptive output feedback control method with accurate online gravity compensation, which solves the problems of unavailability velocity, noise amplification by numerical difference, and steady state error of cable in tower crane control. Additionally, the saturated control inputs are guaranteed by employing bounded functions. The results of this study unveil that the controller proposed in this paper can simultaneously achieve accurate trolley/jib/cable positioning, rapid payload swing suppression and elimination, as well as precise payload mass estimation, and guarantee control inputs constraints. This study provides a new approach for accurate control of tower crane systems. {\textcopyright} 2024 Elsevier Ltd.",

keywords = "Adaptive control, Gravity compensation, Output feedback control, Saturated control input, Tower crane",

author = "Menghua Zhang and Xingjian Jing and Zengcheng Zhou and Mingxu Sun",

year = "2024",

month = apr,

day = "15",

doi = "10.1016/j.ymssp.2024.111283",

language = "English",

volume = "212",

journal = "Mechanical Systems and Signal Processing",

issn = "0888-3270",

publisher = "Academic Press",

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TY - JOUR

T1 - Rapid and restricted swing control via adaptive output feedback for 5-DOF tower crane systems

AU - Zhang, Menghua

AU - Jing, Xingjian

AU - Zhou, Zengcheng

AU - Sun, Mingxu

PY - 2024/4/15

Y1 - 2024/4/15

N2 - Crane swing & relevant vibration are critical safety and efficiency issues to be addressed in construction automation, involving various disturbance and uncertainties. This paper presents for the first time a controller designed for 5-DOF tower crane systems with no velocity signals, and its effectiveness is experimentally verified. Compared to previous controllers, the new design utilizes an adaptive output feedback control method with accurate online gravity compensation, which solves the problems of unavailability velocity, noise amplification by numerical difference, and steady state error of cable in tower crane control. Additionally, the saturated control inputs are guaranteed by employing bounded functions. The results of this study unveil that the controller proposed in this paper can simultaneously achieve accurate trolley/jib/cable positioning, rapid payload swing suppression and elimination, as well as precise payload mass estimation, and guarantee control inputs constraints. This study provides a new approach for accurate control of tower crane systems. © 2024 Elsevier Ltd.

AB - Crane swing & relevant vibration are critical safety and efficiency issues to be addressed in construction automation, involving various disturbance and uncertainties. This paper presents for the first time a controller designed for 5-DOF tower crane systems with no velocity signals, and its effectiveness is experimentally verified. Compared to previous controllers, the new design utilizes an adaptive output feedback control method with accurate online gravity compensation, which solves the problems of unavailability velocity, noise amplification by numerical difference, and steady state error of cable in tower crane control. Additionally, the saturated control inputs are guaranteed by employing bounded functions. The results of this study unveil that the controller proposed in this paper can simultaneously achieve accurate trolley/jib/cable positioning, rapid payload swing suppression and elimination, as well as precise payload mass estimation, and guarantee control inputs constraints. This study provides a new approach for accurate control of tower crane systems. © 2024 Elsevier Ltd.

KW - Adaptive control

KW - Gravity compensation

KW - Output feedback control

KW - Saturated control input

KW - Tower crane

UR - https://www.scopus.com/pages/publications/85186433719

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85186433719&origin=recordpage

U2 - 10.1016/j.ymssp.2024.111283

DO - 10.1016/j.ymssp.2024.111283

M3 - RGC 21 - Publication in refereed journal

SN - 0888-3270

VL - 212

JO - Mechanical Systems and Signal Processing

JF - Mechanical Systems and Signal Processing

M1 - 111283

ER -

Rapid and restricted swing control via adaptive output feedback for 5-DOF tower crane systems

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GRF: Energy-Saving Robust Control of Nonlinear Suspension Systems Via Exploiting Beneficial Nonlinearities, State-Coupling and Disturbance Simultaneously

NSFC: Bio-inspired Anti-impact Compliant Capture and Attitude Takeover Control of Non-cooperative Spacecraft

Cite this

Rapid and restricted swing control via adaptive output feedback for 5-DOF tower crane systems

Abstract

Funding

Research Keywords

Publisher's Copyright Statement

RGC Funding Information

Access Output

Other Access Options

Permanent Link

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Projects

GRF: Energy-Saving Robust Control of Nonlinear Suspension Systems Via Exploiting Beneficial Nonlinearities, State-Coupling and Disturbance Simultaneously

NSFC: Bio-inspired Anti-impact Compliant Capture and Attitude Takeover Control of Non-cooperative Spacecraft

Cite this