In practical applications, industrial cranes may exhibit double-pendulum swing effects, due to many factors, such as large payload scales and non-negligible hook masses. Currently, for double-pendulum cranes, most available methods are open-loop controllers designed based on linearized crane dynamics; even for existing closed-loop approaches, they are also mostly developed using linearized dynamics and require the exact knowledge of system parameters, which makes them sensitive to parametric uncertainties. To handle these issues, we present an adaptive antiswing control strategy for crane systems with double-pendulum swing effects and uncertain/unknown parameters, which can make the trolley accurately reach the target position with reduced overshoots and effectively eliminate the double-pendulum swing angles at the same time. A complete stability analysis, based upon the full nonlinear dynamics (i.e., without linearizing the dynamics), is included to support the theoretical derivations. We present hardware experimental results to demonstrate that the proposed controller achieves better performance than existing ones and exhibits good robustness.

中文翻译：

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具有双摆摆动效应和不确定参数的起重机系统的非线性防摆控制：设计与实验


在实际应用中，由于负载规模大、吊钩质量不可忽略等多种因素，工业起重机可能会出现双摆摆动效应。目前，对于双摆起重机，大多数可用的方法是基于线性化起重机动力学设计的开环控制器；即使对于现有的闭环方法，它们也大多是使用线性动力学开发的，并且需要系统参数的精确知识，这使得它们对参数不确定性敏感。针对这些问题，我们提出了一种针对具有双摆摆动效应和不确定/未知参数的起重机系统的自适应防摆控制策略，该策略可以使小车在减少超调的情况下准确到达目标位置，并有效消除双摆摆角同时。包括基于完整非线性动力学（即，没有线性化动力学）的完整稳定性分析，以支持理论推导。我们提供了硬件实验结果来证明所提出的控制器比现有控制器实现了更好的性能并表现出良好的鲁棒性。