Related papers: Constraint Control of a Boom Crane System
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…
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…
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…
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…
Reference governors are add-on schemes that are used to modify trajectories to prevent controlled dynamical systems from violating constraints and so are playing an increasingly important role in aerospace, robotic, and other engineering…
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…
The productivity and efficiency of port operations strongly depend on how fast a ship can be unloaded and loaded again. With this in mind, ship-to-shore cranes perform the critical task of transporting containers into and onto a ship and…
We introduce a mechanical control system for energy efficient and robust hoisting crane operations. The control system efficiently translates the harmonic motion of a spring loaded mediating system into the desired driving of the load,…
The controller state and reference governor (CSRG) is an add-on scheme for nominal closed-loop systems with dynamic controllers which supervises the controller internal state and the reference input to the closed-loop system to enforce…
The prediction-based nonlinear reference governor (PRG) is an add-on algorithm to enforce constraints on pre-stabilized nonlinear systems by modifying, whenever necessary, the reference signal. The implementation of PRG carries a heavy…
This paper presents a constraint management strategy based on Scalar Reference Governors (SRG) to enforce output, state, and control constraints while taking into account the preview information of the reference and/or disturbances signals.…
This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without online optimization. We formulate the reference update as a…
The paper considers the application of feedback control to orbital transfer maneuvers subject to constraints on the spacecraft thrust and on avoiding the collision with the primary body. Incremental reference governor (IRG) strategies are…
This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizations such as Euler angles. We propose a novel Periodic…
This paper introduces the Compliant Explicit Reference Governor (CERG), a modular reference management system that enables robots to interact physically with their environment under provable guarantees. The CERG is an intermediate layer…
This paper presents a fault-tolerant control scheme for constrained linear systems. First, a new variant of the Reference Governor (RG) called At Once Reference Governor (AORG) is introduced. The AORG is distinguished from the conventional…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
Explicit reference governor (ERG) is an add-on unit that provides constraint handling capability to pre-stabilized systems. The main idea behind ERG is to manipulate the derivative of the applied reference in continuous time such that the…
Electrical weapons and combat systems integrated into ships create challenges for their power systems. The main challenge is operation under high-power ramp rate loads, such as rail-guns and radar systems. When operated, these load devices…
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…