This paper presents a dynamic model of a two-dimensional tower crane, including a Rayleigh-Ritz discretization of the crane's flexible hoist cable, and proposes a passivity-based control approach for payload trajectory tracking using the μ-tip rate. It is assumed that the crane's payload is massive, which allows for a decoupling of the rigid and elastic system dynamics. It is shown that the crane features a passive input-output mapping from modified force and torque inputs to a modified output formed using the position and velocity tracking errors of the payload. An input strictly passive derivative controller is proposed, which results in the velocity tracking error and the μ-tip position error of the payload converging to zero. A numerical example is presented that demonstrates the controller's performance when the payload is to track an agile trajectory.
|Original language||English (US)|
|Title of host publication||2020 American Control Conference, ACC 2020|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Jul 2020|
|Event||2020 American Control Conference, ACC 2020 - Denver, United States|
Duration: Jul 1 2020 → Jul 3 2020
|Name||Proceedings of the American Control Conference|
|Conference||2020 American Control Conference, ACC 2020|
|Period||7/1/20 → 7/3/20|
Bibliographical noteFunding Information:
This work was supported in part by a study grant from Chung-Cheng Institute of Technology, National Defense University, Taiwan (R.O.C.).