Work

Couple Anti-Swing Obstacle Avoidance Control Strategy for Underactuated Overhead Cranes

Year: 2025

Type: article

Abstract: 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 proposes a couple anti-swing obstacle avoidance control method for 5-DOF overhead cranes. Time polynomial fitting is employed for trajectory planning to achieve obstacle avoidance. To achieve anti-swing of the payloads, a coupled variable incorporating both actuated and underactuated states is defined, alongside a boundary for dynamic performance. Finally, MATLAB simulation and hardware experiments are carried out to verify the reliability and compared with some existing control methods.

Source: Actuators

DOI: 10.3390/act14020090

Authors: Shuo Meng, Weikai He, Na Liu, Rui Zhang, Cungen Liu

Institutions: Shandong Jianzhu University, Shandong Jiaotong University, Shandong Special Equipment Inspection Institute

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,896