{"title":"An integrated solution for 3D overhead cranes: Time-optimal motion planning, obstacle avoidance, and anti-swing","authors":"","doi":"10.1016/j.jestch.2024.101852","DOIUrl":null,"url":null,"abstract":"<div><div>This paper proposed a motion planning scheme, a nonlinear controller integrated with an observer for a three-dimensional overhead crane (3DOC) nonlinear system. The designed motion planning considering system constraints and providing time-optimal, collision-free navigation in three dimensions is presented. Furthermore, the 3DOC system is characterized as a highly nonlinear, uncertain system and is always heavily influenced by external disturbances, the system variables are also partially measured using sensors. To solve all these problems, a second-order sliding controller (SO-SMC) based on an extended state observer (ESO) is formulated to solve the problem of uncertainty, disturbance, and furnishing a state estimation mechanism for the 3DOC nonlinear system. The closed-loop system, which consists of the extended state observer and the second-order sliding control stability, is verified via Lyapunov’s stability. Comprehensive simulations, experiments, and comparisons with existing methods are conducted under four cases with the presence of obstacles to demonstrate the observer’s quality and showcase the effectiveness of the proposed methods.</div></div>","PeriodicalId":48609,"journal":{"name":"Engineering Science and Technology-An International Journal-Jestech","volume":null,"pages":null},"PeriodicalIF":5.1000,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Engineering Science and Technology-An International Journal-Jestech","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2215098624002386","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
Abstract
This paper proposed a motion planning scheme, a nonlinear controller integrated with an observer for a three-dimensional overhead crane (3DOC) nonlinear system. The designed motion planning considering system constraints and providing time-optimal, collision-free navigation in three dimensions is presented. Furthermore, the 3DOC system is characterized as a highly nonlinear, uncertain system and is always heavily influenced by external disturbances, the system variables are also partially measured using sensors. To solve all these problems, a second-order sliding controller (SO-SMC) based on an extended state observer (ESO) is formulated to solve the problem of uncertainty, disturbance, and furnishing a state estimation mechanism for the 3DOC nonlinear system. The closed-loop system, which consists of the extended state observer and the second-order sliding control stability, is verified via Lyapunov’s stability. Comprehensive simulations, experiments, and comparisons with existing methods are conducted under four cases with the presence of obstacles to demonstrate the observer’s quality and showcase the effectiveness of the proposed methods.
期刊介绍:
Engineering Science and Technology, an International Journal (JESTECH) (formerly Technology), a peer-reviewed quarterly engineering journal, publishes both theoretical and experimental high quality papers of permanent interest, not previously published in journals, in the field of engineering and applied science which aims to promote the theory and practice of technology and engineering. In addition to peer-reviewed original research papers, the Editorial Board welcomes original research reports, state-of-the-art reviews and communications in the broadly defined field of engineering science and technology.
The scope of JESTECH includes a wide spectrum of subjects including:
-Electrical/Electronics and Computer Engineering (Biomedical Engineering and Instrumentation; Coding, Cryptography, and Information Protection; Communications, Networks, Mobile Computing and Distributed Systems; Compilers and Operating Systems; Computer Architecture, Parallel Processing, and Dependability; Computer Vision and Robotics; Control Theory; Electromagnetic Waves, Microwave Techniques and Antennas; Embedded Systems; Integrated Circuits, VLSI Design, Testing, and CAD; Microelectromechanical Systems; Microelectronics, and Electronic Devices and Circuits; Power, Energy and Energy Conversion Systems; Signal, Image, and Speech Processing)
-Mechanical and Civil Engineering (Automotive Technologies; Biomechanics; Construction Materials; Design and Manufacturing; Dynamics and Control; Energy Generation, Utilization, Conversion, and Storage; Fluid Mechanics and Hydraulics; Heat and Mass Transfer; Micro-Nano Sciences; Renewable and Sustainable Energy Technologies; Robotics and Mechatronics; Solid Mechanics and Structure; Thermal Sciences)
-Metallurgical and Materials Engineering (Advanced Materials Science; Biomaterials; Ceramic and Inorgnanic Materials; Electronic-Magnetic Materials; Energy and Environment; Materials Characterizastion; Metallurgy; Polymers and Nanocomposites)