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A trajectory planning based controller to regulate an uncertain 3D overhead crane system

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We introduce a control strategy to solve the regulation control problem, from the perspective of trajectory planning, for an uncertain 3D overhead crane. The proposed solution was developed based on an adaptive control approach that takes advantage of the passivity properties found in this kind of systems. We use a trajectory planning approach to preserve the accelerations and velocities inside of realistic ranges, to maintaining the payload movements as close as possible to the origin. To this end, we carefully chose a suitable S-curve based on the Bezier spline, which allows us to efficiently handle the load translation problem, considerably reducing the load oscillations. To perform the convergence analysis, we applied the traditional Lyapunov theory, together with Barbalat’s lemma. We assess the effectiveness of our control strategy with convincing numerical simulations.
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Bibliogr. 49 poz., rys., wykr.
  • Research Center for Computation, National Polytechnic Institute, Av. Juan de Dios Bátiz s/n, UPALM, Col. San Pedro Zacatenco, AP 75476, 07738 Ciudad de México, México,
  • Higher School of Computing, National Polytechnic Institute, Av. Juan de Dios Bátiz esq. Av. Miguel Othón de Mendizábal, Col. Lindavista, 07738 Ciudad de México, México,
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Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).
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