The payload swing of an overhead crane needs to be controlled properly to improve efficiency and avoid accidents. However, the swing angle is usually very difficult to control to zero degrees or for it to even remain within an acceptable range becaus...
To address the issue of reduced positioning and anti-swing accuracy of bridge cranes under disturbed conditions within a prescribed time, a positioning and anti-swing control algorithm, based on a prescribed-time disturbance observer, is proposed. Un...
This paper presents an anti-swing control method to prevent situations where inspection robots detach and fall off transmission lines during obstacle crossing due to excessive swing angles caused by the rotation of the robot around the transmission l...
To address distributed mass payload (DMP) anti-swing control problems typified by offshore wind turbine blades, this paper adopts multi-body dynamics and rigid-flexible coupling modelling approaches. It derives the geometric constraints and static eq...
A bridge crane is often used in a complex environment and is often subject to the interference of all loads. Some uncertain factors often have an inevitable impact on its swing. So the force situation of the bridge crane during a working cycle is ana...
Overhead cranes are widely used for transportation in factories. They move slowly by manual operation to prevent the payload from swinging sharply or colliding with sudden obstacles. To address these issues and enhance work efficiency, this paper pro...
In this article, a prescribed-time sliding mode controller is proposed for the design of the positioning and anti-swing time of the underactuated bridge crane under different initial conditions. Compared with the existing crane positioning and anti-s...
Suspended-payload UAVs face a core dilemma in outdoor transportation: their stability is severely compromised by payload swing, yet conventional anti-swing controllers depend on real-time state feedback that is difficult to obtain without external se...
During quadrotor load transport, the cable’s elasticity exacerbates load fluctuations, which may result in platform instability or a potential crash. This paper introduced a model of the connecting cable as a spring-damper system and establishe...
This work proposes an adaptive rapid terminal SMC (sliding mode control) approach based on the FFTSO (fast finite-time state observer) for overhead crane trajectory tracking and anti-swing control in the presence of external disturbances and paramete...
Gantry cranes play a pivotal role in industrial production. Gantry cranes exhibit clear double-swing characteristics in actual working conditions, complicating anti-swing control. Most existing anti-swing control methods are based on a simplified sin...
Quadrotors play a crucial role in the national economy. The control technology for quadrotor-slung load transportation systems has become a research hotspot. However, the underactuated load’s swing poses significant challenges to the stability...
Considering the anti-swing control and output constraint problems of shipboard cranes, a nonlinear anti-swing controller based on asymmetric barrier Lyapunov functions (BLFs) is designed. First, model transformation mitigates the explicit effects of...
Swing usually occurs in the maneuver process of a tethered combination, which is constituted of a platform, a tether and a target (i.e., space debris) for capture. Therefore, a dynamical model of the space tethered combination was established, based...
The operation process of double-pendulum ship-borne cranes with variable rope lengths is frequently complex, with numerous unpredictable circumstances, such as the swing of the load and external environmental interferences, which undoubtedly make the...
With the rapid development of offshore engineering, marine cranes are widely deployed in critical maritime operations, such as the precision installation of wind turbine blades. However, their highly coupled three-dimensional spatial dynamics, uncert...
For the multi-rope structure of the container crane system and its large mass payload anti-swing positioning problem, an equivalent double-swing model based on radial spring-dampers is established and a time-varying PD sliding mode controller (TVPD-S...
In response to the non-linear and underactuated characteristics of quadrotor UAV suspension transportation system, this paper proposes a novel control strategy aimed at achieving precise position control, attitude control, and anti-swing capabilities...
The double pendulum type gantry crane is a typical symmetry underactuated motion system. It has control problems in that the swing of the payload is difficult to suppress and the precise positioning of the trolley is not accurate. A new nonlinear cou...
To address the anti-swing issue of the payload in bridge cranes, Proportional–Integral–Derivative (PID) control is a commonly used method. However, parameter tuning of the PID controller relies on empirical knowledge and often leads to sy...
To address the problems of the lack of an online data simulation test environment, the poor openness of data collection, and the low degree of data visualization in the online control process of port cranes, an operation state monitoring system frame...
Quadrotor flying vehicles with suspended loads have a lot of applications, such as mine detection and transferring loads for delivery, or through places where ground vehicles cannot reach. In these applications, the payload will be suspended undernea...
Since the swing of the lifting load and the positioning of the trolley during the operation of a bridge crane seriously affect the safety and reliability of its work, we have not only designed Proportional Integral Derivative (PID) controllers for th...
In complex environments, tower cranes not only need to efficiently transport loads to specified target points but also must avoid obstacles present in their surroundings. This poses a significant challenge for the load positioning control of tower cr...
As a critical piece of equipment in industrial logistics, the operational efficiency of bridge cranes is influenced by their positioning and sway suppression capabilities. Addressing the challenge of positioning and sway suppression in bridge crane s...
During the flight of the quadrotor, the existence of a slung load will exert a swing effect on the system and the motion of which will significantly change the dynamics of the quadrotor. The external torque caused by the slung load can be considered...
The hoisting form in which the payload is hung on the hook by two rigging ropes is widely used in the industry, but it also results in the complex double pendulum dynamic of the bridge crane, making the anti-swing trajectory planning full of challeng...
To solve the problem of crane anti-swing, fuzzy PID is a common method. However, the parameter configuration of fuzzy PID requires a lot of time and effort from professionals. Based on this, we introduce the LSO algorithm and add the stray operator,...
The port container gantry crane studied in this paper is a four-degree-of-freedom spatial continuous system. In actual work, in order to make the container transfer smoothly, the response of the whole system needs to be accurately predicted and timel...
In this paper, the dynamics of long payload transportation via two bridge cranes in three dimensions is studied. The position of the cranes is known, and it is used as a kinematic coercion. Using the independent variables, equations of motion are der...
For positioning and anti-swing control of bridge cranes, the active learning control method can reduce the dependence of controller design on the model and the influence of unmodeled dynamics on the controller’s performance. By only using the r...
Dual marine lifting systems are complicated, fully actuated mechatronics systems with multi-input and multi-output capabilities. The anti-swing cooperative lifting control of dual marine lifting systems with dual ships’ sway, heave, and roll mo...
Self-contained hydraulic cylinders have gained popularity in the recent years but have not been implemented for high power articulated hydraulic manipulators. This paper presents a novel concept for an electro-hydrostatic actuator applicable to large...
Overhead cranes are underactuated systems with significant model uncertainties that pose major challenges for precise anti-swing control. These uncertainties, including unknown parameters and varying dynamics, severely limit the performance of conven...
The design and optimization of drive distribution strategies are critical for enhancing the performance of Formula Student electric racing cars, which face demanding operational conditions such as rapid acceleration, tight cornering, and variable tra...
It is essential to ensure stability during marine transportation or the installation of high center of gravity loads. The heavy loads increase gravity disturbance, affecting the steady-state-error control of the multiple degrees of freedom (DOFs) mot...
In view of the double pendulum characteristics of cranes in actual production, simply equating them to single pendulum characteristics and ignoring the mass of the hook will lead to significant errors in the oscillation frequency. To tackle this issu...
A novel control algorithm combining the linear quadratic regulator (LQR) control and trajectory planning (TP) is proposed for the control of an underactuated crane system, targeting position adjustment and swing suppression. The TP is employed to con...
Inspired by the kangaroo’s active tail wagging to stabilize its body posture while jumping, this paper proposes an active anti-disturbance control strategy for unmanned aerial manipulators based on variable coupling disturbance compensation (
A novel swing control scheme combining optimization and input-shaping techniques is proposed for overhead cranes subjected to parameter variations and modeling errors. An input shaper was first designed using the analytical method based on the linear...
T-foils with active control systems can adjust their attack angle according to the movement of the ship in real time, providing higher lift force and improving the seakeeping performance of a ship. The optimization of the control signal and that of t...
Aiming to address the tracking accuracy and anti-rollover problem of the unmanned mining truck path tracking process under the complex unstructured road conditions in mining areas, a coordinated control strategy for path tracking and anti-rollover ba...
Human axillary malodor negatively influences impression-related appearance, confidence, and hygiene, and ultimately decreases quality of life. Malodor formation involves three steps: vesiculation of odorless precursors within the human body, influx o...
The conventional scroll compressor cannot run oil-free because of wear and tear and lubrication problems during operation due to some parts, such as anti-rotation devices. The magnetic drive oil-free scroll compressor (MDOFSC) uses a contactless driv...
Inspired by the energy-efficient resonance strategy of the human elbow joint during periodic arm swing, this paper investigates the energy-saving motion and performance of a robotic variable stiffness joint. A modular stiffness adjustment mechanism w...
This paper investigates an adaptive disturbance rejection control (ADRC) strategy for dual-variable power smoothing for hydraulic wind turbine systems deployed in marine environments. Initially, fluctuations in wind speed induce variations in the out...
A linearity enhancement scheme for voltage-controlled oscillator (VCO)-based continuous-time (CT) delta-sigma (ΔΣ) analog-to-digital converters (ADCs) is proposed. Unlike conventional input feedforwarding techniques, the proposed feedforwarding schem...
This paper presents a low-power, fully differential, programmable gain amplifier (PGA) for ultrasound receiver analog front-ends (AFE). It consists of a programmable attenuator implemented by a capacitive voltage divider and a closed-loop amplifier b...
Hemiplegia is a neurological disorder that is often detected in children with cerebral palsy. Although many studies have investigated muscular activity in hemiplegic legs, few EMG-based findings focused on unaffected limb. This study aimed to quantif...
A crane system often works in a complex environment. It is difficult to model or learn its true dynamics by traditional system identification approaches. If a dynamics model is created by minimizing its prediction error, its use tends to introduce in...
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