Obstacle-avoidance trajectory planning based adaptive tracking control for 4DOF tower cranes with tracking error constraints

IF 7.9 1区 工程技术 Q1 ENGINEERING, MECHANICAL Mechanical Systems and Signal Processing Pub Date : 2024-11-07 DOI:10.1016/j.ymssp.2024.112109
Wei Peng, Hui Guo, Menghua Zhang, Chengdong Li, Fang Shang, Zhi Li
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Abstract

Due to the tower cranes usually working in an outdoor environment, it is generally unavoidable for the obstacle to exist in the transportation path. Thus, it is critical for the tower crane systems to guarantee their safety and efficiency simultaneously. In this paper, for the 4DOF tower cranes, a novel adaptive tracking control approach is proposed by considering obstacle-avoidance trajectory planning. The state constraint equations are established firstly, by involving the auxiliary terms. And, the optimal time trajectory with physical constraints is obtained by the dichotomy method. Then, the fuzzy neural network is employed to handle the obstacle-avoidance trajectories generation problem under the different final positions and obstacle positions. An adaptive tracking control method with error constraints is further given to guarantee the precise tracking of the trolley and the jib. It is noteworthy that the proposed method not only constrains the state variables within predefined ranges but also constructs an improved trajectory planning method for the first time to avoid collisions. Additionally, the stability of the system is theoretically proven by the Lyapunov technique and LaSalle’s invariance principle. Finally, several experimental results demonstrate the superiority of the proposed method over comparative approaches in terms of effectiveness and robustness.
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基于避障轨迹规划的自适应跟踪控制,适用于具有跟踪误差约束的 4DOF 塔式起重机
由于塔式起重机通常在室外环境中工作,运输路径上一般不可避免地会存在障碍物。因此,如何同时保证塔式起重机系统的安全和效率至关重要。本文针对 4DOF 塔式起重机,提出了一种考虑避障轨迹规划的新型自适应跟踪控制方法。首先,通过涉及辅助项建立状态约束方程。然后,通过二分法得到具有物理约束条件的最佳时间轨迹。然后,采用模糊神经网络处理不同最终位置和障碍物位置下的避障轨迹生成问题。进一步给出了一种带有误差约束的自适应跟踪控制方法,以保证小车和摇臂的精确跟踪。值得注意的是,所提出的方法不仅将状态变量约束在预定范围内,还首次构建了一种改进的轨迹规划方法,以避免碰撞。此外,Lyapunov 技术和拉萨尔不变性原理从理论上证明了系统的稳定性。最后,几项实验结果表明,所提出的方法在有效性和鲁棒性方面优于其他方法。
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来源期刊
Mechanical Systems and Signal Processing
Mechanical Systems and Signal Processing 工程技术-工程:机械
CiteScore
14.80
自引率
13.10%
发文量
1183
审稿时长
5.4 months
期刊介绍: Journal Name: Mechanical Systems and Signal Processing (MSSP) Interdisciplinary Focus: Mechanical, Aerospace, and Civil Engineering Purpose:Reporting scientific advancements of the highest quality Arising from new techniques in sensing, instrumentation, signal processing, modelling, and control of dynamic systems
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