Overhead Crane

disturbance observer based nonlinear control for overhead cranes subject to uncertain disturbances

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Summary

May 01, 2020 · In order to overcome the limitations of the existing methods for the crane control, inspired by the development of feedforward compensation control , , , the disturbance observer-based control technique is employed to estimate and compensate the effects […]

disturbance observer based nonlinear control for overhead cranes subject to uncertain disturbances

May 01, 2020 · In order to overcome the limitations of the existing methods for the crane control, inspired by the development of feedforward compensation control , , , the disturbance observer-based control technique is employed to estimate and compensate the effects of uncertain disturbances, and a nonlinear control method is proposed for the regulation of the crane system in this paper. In particular, we use a coordinate transformation to convert the origin …

Disturbance-observer-based nonlinear control for overhead

The regulation and disturbance rejection problems of the underactuated overhead crane system in the presence of uncertain disturbances are considered in this paper. A novel nonlinear control method, along with a finite time disturbance observer, is proposed for the crane system. Different from existing control methods, one important feature of the proposed method is that uncertain disturbances are attenuated and eliminated by the disturbance observer …

Mar 28, 2017 · For a class of multi-input multi-output nonlinear systems, a disturbance observer-based control is proposed to solve the tracking problem in the presence of mismatched disturbances. By designing a novel compensation gain matrix, the disturbances can be removed from the output channel completely as well as retaining the nominal performance.

This paper introduces an effective dynamic sliding mode control based on a nonlinear disturbance observer (NDO) for a quadrotor. The proposed algorithm is used to supply a fast adaptation and

Observer-Based Nonlinear Robust Control of Floating Container Cranes Subject to Output Hysteresis June 2019 Journal of Dynamic Systems Measurement and Control 141(11)

Oct 21, 2020 · One part is a nonlinear disturbance observer, the task of which is to estimate uncertain disturbances. The other part is sliding mode control, whose main task is to regulate the state variables to the origin. More precisely, by using some coordinate transformations, we transform the TORA dynamics into a cascade form.

Mechanical Systems and Signal Processing | Vol 139, May

select article Disturbance-observer-based nonlinear control for overhead cranes subject to uncertain disturbances. Disturbance-observer-based nonlinear control for overhead cranes subject to uncertain disturbances. Xianqing Wu, Kexin Xu, Xiongxiong He. Article 106631 Download PDF.

Then, a disturbance observer is formulated through state-vector augmentation of the tower-crane model. Thus, better performance of estimations for system states and disturbances is achieved. The

Xianqing Wu, Kexin Xu, Xiongxiong He, Disturbance-observer-based nonlinear control for overhead cranes subject to uncertain disturbances, Mechanical Systems and Signal Processing, 10.1016/j.ymssp.2020.106631, 139, (106631), (2020).

This paper introduces an effective dynamic sliding mode control based on a nonlinear disturbance observer (NDO) for a quadrotor. The proposed algorithm is used to supply a fast adaptation and

(2019). Disturbance-observer-based sampled-data adaptive output feedback control for a class of uncertain nonlinear systems. International Journal of Systems Science: Vol. 50, No. 9, pp. 1771-1783.

Disturbance observer based control for a class of

A novel type of control scheme is proposed for a class of nonlinear systems subject to disturbance. The disturbance is generated by an exogenous system with uncertainty, which can represent the harmonic signals with modeling perturbations. A nonlinear disturbance observer is constructed for the estimation of the disturbance. The effectiveness of the method depends on the characteristics of

Apr 16, 2009 · Jiao-Jun Zhang, State observer-based adaptive neural dynamic surface control for a class of uncertain nonlinear systems with input saturation using disturbance observer, Neural Computing and Applications, 10.1007/s00521-018-03993-x, (2019).

This paper is concerned with disturbance-observer-based control (DOBC) for a class of time-delay systems with uncertain sinusoidal disturbances. The disturbances are decomposed as precise and uncertain parts using nonlinear disturbance observer (DO) after appropriate coordinate transformation. And then the two parts can be compensated by corresponding controller, respectively, such that the

Observer-Based Control for Uncertain Nonlinear Systems Applied to Continuous Biochemical Reactors Ricardo Aguilar-López , 1 Edgar N. Tec-Caamal , 1 and M. Isabel Neria-González 2 1 Department of Biotechnology and Bioengineering, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Mexico, Ciudad de México, C

Sep 01, 2020 · On the other hand, disturbance estimation and attenuation are regarded as one of the most popular anti-disturbance strategies. In Besnard et al. (2012), sliding mode control (SMC) and sliding mode disturbance observer (SMDO) are developed to estimate the external and internal disturbances on the quadrotor UAV.In Waslander and Wang (2009), the measured value of accelerometer is used to …

(PDF) Observer-Based Nonlinear Robust Control of Floating

Observer-Based Nonlinear Robust Control of Floating Container Cranes Subject to Output Hysteresis June 2019 Journal of Dynamic Systems Measurement and Control 141(11)

This article is motivated by the control issues of the translational oscillator with rotational actuator system in the existence of uncertain disturbances. A nonlinear disturbance observer and a

May 21, 2019 · In this paper, the problem of load transportation and robust mitigation of payload oscillations in uncertain tower-cranes is addressed. This problem is tackled through a control scheme based on the philosophy of active-disturbance-rejection. Here, a general disturbance model built with two dominant components: polynomial and harmonic, is stated. Then, a disturbance observer is …

The resultant control schemes developed include position feedback control, 20,21 rate-based control, 22 fuzzy control, 23 sliding-mode control [24][25][26] and nonlinear control.

Based on the model, a novel nonlinear control law is designed for the underactuated boom crane, which makes the system states track some planned trajectories successfully, even in the presence of

On Convergence of the Nonlinear Active Disturbance

(2018) Sliding Mode Control of the Penicillin Fermentation System Based on Nonlinear Disturbance Observer. 2018 IEEE 7th Data Driven Control and Learning Systems Conference (DDCLS) , 714-717. (2018) Robust Flat Filtering Control of a Nonlinear Manipulator-Direct Current Motor System.

Robust Output Regulation Via Sliding Mode Control and Disturbance Observer: Application in a Forced Van Der Pol Chaotic Oscillator Design of Robust Controller for a Class of Uncertain Discrete-Time Systems Subject to Actuator Saturation,” Disturbance Observer Based Control for Nonlinear Systems,”