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A novel online motion planning method for double-pendulum overhead cranes

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Abstract

In this paper, a novel online motion planning method for double-pendulum overhead cranes is proposed. The proposed trajectory is made up of two parts: anti-sway component and trolley positioning component. The objective of the first part is to suppress and eliminate the swings of hook and payload. Lyapunov techniques, LaSalle’s invariance theorem, and Barbalat’s lemma are used to demonstrate that the trolley can be driven to arrive at the desired position, while the unexpected hook swing and payload swing are damped out simultaneously with the proposed trajectory. Numerical simulation results indicate that the proposed control trajectory achieves superior performance and admits strong robustness against parameter variations and external disturbances.

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Notes

  1. In this paper, we refer to the term ‘offline’ as calculating the trajectory commands in advance of implementation. By contrast, the term ‘online’ implies that the trajectory commands are generated real time to the system. For example, assume that the control period is 5 ms, and then the trajectory commands for the next control action are calculated within the current 5 ms.

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Authors and Affiliations

  1. School of Control Science and Engineering, Shandong University, Jinan, 250061, China

    Menghua Zhang, Xin Ma, Hui Chai, Xuewen Rong, Xincheng Tian & Yibin Li

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  1. Menghua Zhang
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  2. Xin Ma
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  3. Hui Chai
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  4. Xuewen Rong
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  5. Xincheng Tian
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Correspondence to Xin Ma.

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Zhang, M., Ma, X., Chai, H. et al. A novel online motion planning method for double-pendulum overhead cranes. Nonlinear Dyn 85, 1079–1090 (2016). https://doi.org/10.1007/s11071-016-2745-x

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