Related papers: Vision-based control of a knuckle boom crane with …
Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which…
Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of…
Automation of cranes can have a direct impact on the productivity of construction projects. In this paper, we focus on the control of one of the most used cranes, the boom crane. Tower cranes and overhead cranes have been widely studied in…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…
Boom cranes are among the most used cranes to lift heavy loads. Although fairly simple mechanically, from the control viewpoint this kind of crane is a nonlinear underactuated system which presents several challenges, especially when…
Cranes have long been essential equipment for lifting and placing heavy loads in construction projects. This study focuses on the lowering phase of crane operation, the stage in which the load is moved to the desired location. During this…
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is used to generate a neural exponentially…
Application rate errors when using self-propelled agricultural sprayers for agricultural production remain a concern. Among other factors, spray boom instability is one of the major contributors to application errors. Spray booms' width of…
The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
By applying invariant-based inverse engineering in the small-oscillations regime, we design the time dependence of the control parameters of an overhead crane (trolley displacement and rope length), to transport a load between two positions…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
Untangling of structures like ropes and wires by autonomous robots can be useful in areas such as personal robotics, industries and electrical wiring & repairing by robots. This problem can be tackled by using computer vision system in…
The cable-based arrestment systems are integral to the launch and recovery of aircraft onboard carriers and on expeditionary land-based installations. These modern arrestment systems rely on various mechanisms to absorb energy from an…
This paper focuses on the development of minimum time control profiles for point-to-point motion of a gantry crane system in the presence of uncertainties in modal parameters. Assuming that the velocity of the trolley of the crane can be…
This paper presents a scheme to enhance payload manipulation using a robot collaborating with an overhead crane. In the current industrial practice, when the crane's payload has to be accurately manipulated and located in a desired…
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload…
In this paper, we address the Perception--Constrained Model Predictive Control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single camera and Inertial Measurement Unit (IMU). We design a…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
The paper discusses an intelligent vision-based control solution for autonomous tracking and landing of Vertical Take-Off and Landing (VTOL) capable Unmanned Aerial Vehicles (UAVs) on ships without utilizing GPS signal. The central idea…