Abstract
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) |
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| Title of host publication | 2020 American Control Conference, ACC 2020 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 5046-5051 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781538682661 |
| DOIs | |
| State | Published - Jul 2020 |
| Event | 2020 American Control Conference, ACC 2020 - Denver, United States Duration: Jul 1 2020 → Jul 3 2020 |
Publication series
| Name | Proceedings of the American Control Conference |
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| Volume | 2020-July |
| ISSN (Print) | 0743-1619 |
Conference
| Conference | 2020 American Control Conference, ACC 2020 |
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| Country/Territory | United States |
| City | Denver |
| Period | 7/1/20 → 7/3/20 |
Bibliographical note
Funding Information:This work was supported in part by a study grant from Chung-Cheng Institute of Technology, National Defense University, Taiwan (R.O.C.).
Publisher Copyright:
© 2020 AACC.