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Barrier function-based adaptive antisway control for underactuated overhead cranes

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Abstract

Nonlinear controls that account for constraints on the state variable of overhead cranes can hardly strengthen the effective coupling between trolley movement and load oscillation, thus possessing little capacity in oscillation suppression. Nevertheless, such control designs trend to be more complex under parametric uncertainties. To solve these problems, this paper employs novel barrier functions in the coupling control design, so that the obtained feedback can preserve all states, including the composite variable, bounded within asymmetric limits while simultaneously enhancing antisway effectiveness. Owing to the simple structure of the Lyapunov derivative, the adaptation facilitates the proposed controller with robustness to parametric uncertainties. LaSalle’s invariance principle ensures the asymptotic stability, and experiments verify the validity of the suggested controller.

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Acknowledgements

This study has been funded by the National Natural Science Foundation of China (Project Nos. 61873239, 62233016). The authors have no relevant financial or non-financial interests to disclose. All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Zhang Shengzeng, He Xiongxiong and Zhu Haiyue. The first draft of the manuscript was written by Zhang Shengzeng and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript. The datasets generated and analyzed during the current study are available from the corresponding author on reasonable request.

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Authors and Affiliations

  1. Robotics Institute, Ningbo University of Technology, 201 Fenghua Road, Ningbo, 315048, Zhejiang, China

    Shengzeng Zhang

  2. College of Information Engineering, Zhejiang University of Technology, 288 Liuhe Road, Hangzhou, 310023, Zhejiang, China

    Xiongxiong He

  3. Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research (A*STAR), 2 Fusionopolis Way, Singapore, 138634, Singapore

    Haiyue Zhu

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  1. Shengzeng Zhang
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Correspondence to Xiongxiong He.

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Zhang, S., He, X. & Zhu, H. Barrier function-based adaptive antisway control for underactuated overhead cranes. Nonlinear Dyn 111, 18077–18093 (2023). https://doi.org/10.1007/s11071-023-08803-1

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