Amplitude Saturated Nonlinear Output Feedback Controller Design for Underactuated 5-DOF Tower Cranes Without Velocity Measurement

Tower cranes are typical underactuated system commonly used on land as a large transport device. Moreover, workers regularly move loads and adjust the length of the rope simultaneously to improve the efficiency of crane transport. However, most of these methods require accurate velocity feedback and do not take into account the lifetime of the driving motor and variable rope length, leading to frequent safety accidents in practical working conditions. Therefore, in this paper, the authors propose an amplitude saturated nonlinear output feedback controller for five-degree-of-freedom (5-DOF) underactuated tower cranes without velocity measurement. Firstly, all studies are based on a variable rope length tower crane system. Secondly, an amplitude saturated nonlinear output feedback controller without velocity measurement is designed. Furthermore, Lyapunov theorem and LaSalle’s invariance principle are used to prove the asymptotic stability of the closed-loop system at the target position. Finally, they experimentally demonstrate the effectiveness of the proposed controller.

• Record URL:
  • http://dx.doi.org/10.1109/TITS.2024.3350056
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2024, IEEE.
• Authors:
  • Xia, Jiyu
  • Ouyang, Huimin
• Publication Date: 2024-8

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 10206-10215
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 25
  • Issue Number: 8
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Amplitude (Physics); Feedback control; Mobile cranes; Velocity measurement
• Subject Areas: Data and Information Technology; Freight Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01935168
• Record Type: Publication
• Files: TRIS
• Created Date: Oct 25 2024 1:48PM