An Iterative Learning Control Technique for Point-to-Point Maneuvers Applied on an Overhead Crane
Copyright policy )An Iterative Learning Control Technique for Point-to-Point Maneuvers Applied on an Overhead Crane
An iterative learning control (ILC) strategy is proposed, and implemented on simple pendulum and double pendulum models of an overhead crane undergoing simultaneous traveling and hoisting maneuvers. The approach is based on generating shaped commands using the full nonlinear equations of motion combined with the iterative learning control, to use as acceleration commands to the jib of the crane. These acceleration commands are tuned to eliminate residual oscillations in rest-to-rest maneuvers. The performance of the proposed strategy is tested using an experimental scaled model of an overhead crane with hoisting. The shaped command is derived analytically and validated experimentally. Results obtained showed that the proposed ILC control strategy is capable of eliminating travel and residual oscillations in simple and double pendulum models with hoisting. It is also shown, in all cases, that the proposed approach has a low sensitivity to the initial cable lengths.
- Kuwait University Kuwait
- Virginia Tech United States
- German Jordanian University Jordan
Iterative Learning Control in Engineering Practice, Artificial intelligence, Iterative learning control, Economics, Motion Control, Iterative Learning Control, FOS: Mechanical engineering, Hydraulic Systems Control and Optimization, Adaptive Control, Engineering, Pendulum, Input shaping, Classical mechanics, Position (finance), Vibration control, Control engineering, Physics, Sensitivity (control systems), Mechanical engineering, Algorithm, Residual, Physical Sciences, QC1-999, Acceleration, Structural engineering, Geometry, Control (management), Quantum mechanics, Vibration, Double pendulum, Rest (music), Repetitive Control, Point (geometry), Dynamics and Control of Multibody Mechanical Systems, Control theory (sociology), FOS: Mathematics, Inverted pendulum, Electronic engineering, Mechanical Engineering, Acoustics, Computer science, Overhead (engineering), Input Shaping Control, Control and Systems Engineering, Electrical engineering, Overhead crane, Nonlinear system, Mathematics, Finance
Iterative Learning Control in Engineering Practice, Artificial intelligence, Iterative learning control, Economics, Motion Control, Iterative Learning Control, FOS: Mechanical engineering, Hydraulic Systems Control and Optimization, Adaptive Control, Engineering, Pendulum, Input shaping, Classical mechanics, Position (finance), Vibration control, Control engineering, Physics, Sensitivity (control systems), Mechanical engineering, Algorithm, Residual, Physical Sciences, QC1-999, Acceleration, Structural engineering, Geometry, Control (management), Quantum mechanics, Vibration, Double pendulum, Rest (music), Repetitive Control, Point (geometry), Dynamics and Control of Multibody Mechanical Systems, Control theory (sociology), FOS: Mathematics, Inverted pendulum, Electronic engineering, Mechanical Engineering, Acoustics, Computer science, Overhead (engineering), Input Shaping Control, Control and Systems Engineering, Electrical engineering, Overhead crane, Nonlinear system, Mathematics, Finance
selected citations These citations are derived from selected sources.This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).28 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Top 10% influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Top 10% impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Top 10%
Citations provided by BIP!Popularity provided by BIP!