Related papers: Oscillation Reduction for Knuckle Cranes
Payload swing during rapid slewing of mobile cranes poses a safety risk, as it generates overturning moments that can lead to tip-over accidents of mobile cranes. Currently, to limit the risk of tip-over, mobile crane operators are forced…
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…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
Forestry machines are heavy vehicles performing complex manipulation tasks in unstructured production forest environments. Together with the complex dynamics of the on-board hydraulically actuated cranes, the rough forest terrains have…
Nonlinear Model Predictive Control (NMPC) is a precise controller, but its heavy computational load often prevents application in robotic systems. Some studies have attempted to approximate NMPC using deep neural networks (NMPC-DNN).…
Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…
Intelligent drill boom hole-seeking is a promising technology for enhancing drilling efficiency, mitigating potential safety hazards, and relieving human operators. Most existing intelligent drill boom control methods rely on a hierarchical…
Uncertainty and unknown nonlinearity are often inevitable in the suspension systems, which were often solved using fuzzy logic system (FLS) or neural networks (NNs). However, these methods are restricted by the structural complexity of the…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
Transferring heavy payloads in maritime settings relies on efficient crane operation, limited by hazardous double-pendulum payload sway. This sway motion is further exacerbated in offshore environments by external perturbations from wind…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
We consider subspace transfer within the time-dependent one-dimensional quantum transverse Ising model, with random nearest-neighbor interactions and a transverse field. We run numerical simulations using a variational approach and the…
We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying knot. Using a single human demonstration and a simplified…
The generation and storage of spin squeezing is an attracting topic in quantum metrology and the foundations of quantum mechanics. The major models to realize the spin squeezing are the one- and two-axis twisting models. Here, we consider a…
The paper investigates the asymptotic behavior of a 2D overhead crane with input delays in the boundary control. A linear boundary control is proposed. The main feature of such a control lies in the facts that it solely depends on the…
This work presents cost-effective low-rank techniques for designing robust adaptive beamforming (RAB) algorithms. The proposed algorithms are based on the exploitation of the cross-correlation between the array observation data and the…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
The paper is concerned with the finite-time stabilization of a hybrid PDE-ODE system describing the motion of an overhead crane with a flexible cable. The dynamics of the flexible cable is described by the wave equation with a variable…
Cross-flow turbines, also known as vertical-axis turbines, have numerous features that make them attractive for wind and marine renewable energy. To maximize power output, the turbine blade kinematics may be controlled during the course of…