Related papers: Constraint Control of a Boom Crane System
The multi-timestep command governor (MCG) is an add-on algorithm that enforces constraints by modifying, at each timestep, the reference command to a pre-stabilized control system. The MCG can be interpreted as a Model-Predictive Control…
For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the…
This paper introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…
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…
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, and is robust to exogenous disturbances. To this end, we…
A vision-based controller for a knuckle boom crane is presented. The controller is used to control the motion of the crane tip and at the same time compensate for payload oscillations. The oscillations of the payload are measured with three…
In this paper, a control scheme is developed based on an input constrained Model Predictive Controller (MPC) and the idea of modifying the reference command to enforce constraints, usual of Reference Governors (RG). The proposed scheme,…
To implement controllable loads for frequency regulation in transmission networks in a practical way, the control scheme needs to be granulated down at least to subtransmission networks since loads in transmission networks are usually the…
Forestry machines operated in forest production environments face challenges when performing manipulation tasks, especially regarding the complicated dynamics of underactuated crane systems and the heavy weight of logs to be grasped. This…
Wind turbines are prone to structural degradation, particularly in offshore locations. Based on the structural health condition of the tower, power de-rating strategies can be used to reduce structural loads at the cost of power losses.This…
In this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost functions. The proposed controller is based on online convex…
This paper studies the container lifting phase of a waste-container recycling task in urban environments, performed by a hydraulic loader crane equipped with an underactuated discharge unit, and proposes a residual reinforcement learning…
In this paper, we discussed limitation of current electronic-design-automoation (EDA) tool and proposed a machine learning framework to overcome the limitations and achieve better design quality. We explored how to efficiently extract…
Power system emergency control is generally regarded as the last safety net for grid security and resiliency. Existing emergency control schemes are usually designed off-line based on either the conceived "worst" case scenario or a few…
Reference and command governors are add-on schemes that augment nominal closed-loop systems with the capability to enforce state and control constraints. They do this by monitoring and modifying, when necessary, the reference command.…
E-powertrain of future electric vehicles could consist of energy generation units (e.g., fuel cells and photovoltaic modules), energy storage systems (e.g., batteries and supercapacitors), energy conversion units (e.g., bidirectional DC/DC…
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety)…
Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that…
We are seeking control design paradigms for legged systems that allow bypassing costly algorithms that depend on heavy on-board computers widely used in these systems and yet being able to match what they can do by using less expensive…
This paper presents an autonomous control framework for articulated boom cranes performing prefabricated block assembly in construction environments. The key challenge addressed is precise placement control under passive joint dynamics that…