Scholarlink

<p>In this paper, we propose a novel control scheme that integrates a disturbance observer with a nonlinear anti-swing control approach for underactuated overhead crane systems. Unlike existing methods, this strategy accounts for double-pendulum dynamics, unknown disturbances, and system constraints. First, a high-gain observer is designed based on the system’s dynamic equations to estimate the unknown disturbances. Then, a Lyapunov-based model predictive controller is developed, using the observer’s information along with a second-order sliding mode controller, which is used for tracking while adhering to system constraints. Through comparative simulations with conventional controllers, the proposed method is validated, demonstrating improved performance and robustness.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Input and output constraints control strategy-based model predictive control for double-link overhead cranes

  • 期刊论文

  • 发表日期：

    2026年4月21日

查看全文
  • Mai Hoang Thi,
  • Hien Nguyen Thi,
  • Tung Lam Nguyen,
  • Hue Luu Thi

摘要

In this paper, we propose a novel control scheme that integrates a disturbance observer with a nonlinear anti-swing control approach for underactuated overhead crane systems. Unlike existing methods, this strategy accounts for double-pendulum dynamics, unknown disturbances, and system constraints. First, a high-gain observer is designed based on the system’s dynamic equations to estimate the unknown disturbances. Then, a Lyapunov-based model predictive controller is developed, using the observer’s information along with a second-order sliding mode controller, which is used for tracking while adhering to system constraints. Through comparative simulations with conventional controllers, the proposed method is validated, demonstrating improved performance and robustness.