Optimal Control Applications and Methods

Volume 46, Issue 4 pp. 1402-1416

RESEARCH ARTICLE

Fast Point-To-Point Transportation of the Portal Crane via Double-Input Inversion-Based Feedforward and Feedback Control

Yongli Zhang,

Corresponding Author

Yongli Zhang

[email protected]

orcid.org/0009-0005-6290-8502

School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China

Tianjin Key Laboratory of Information Sensing and Intelligent Control, Tianjin, China

Correspondence: Yongli Zhang ([email protected])

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Mengjie Li,

Mengjie Li

School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China

Tianjin Key Laboratory of Information Sensing and Intelligent Control, Tianjin, China

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Yongli Zhang,

Corresponding Author

Yongli Zhang

[email protected]

orcid.org/0009-0005-6290-8502

School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China

Tianjin Key Laboratory of Information Sensing and Intelligent Control, Tianjin, China

Correspondence: Yongli Zhang ([email protected])

Search for more papers by this author

Mengjie Li,

Mengjie Li

School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China

Tianjin Key Laboratory of Information Sensing and Intelligent Control, Tianjin, China

Search for more papers by this author

First published: 09 February 2025

https://doi.org/10.1002/oca.3266

Citations: 1

Funding: This work is supported by the Science and Technology Foundation for the Field of Social Development of Zhuhai (No. ZH22036201210019PWC), and also supported by the Graduate Course Construction and Teaching Material Construction Project Foundation of Tianjin university of technology and education, Tianjin, China (No. KJA2022-26), and National Natural Science Foundation of China (No. 62141305).

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ABSTRACT

This paper describes a double-input double-output inversion-based feedforward control (DIDOIBFC) scheme for fast point-to-point (PTP) transportation of the portal crane. Luffing and rotation of the portal crane are two mutually coupled motions in the process of PTP transportation, which are actuated by two control input, respectively. In this paper, the Bessel curve is used to obtain the PTP space transportation trajectory, and the relationship between the luffing length and the rotation angle is fitted into a polynomial function. The control strategy based on inversion system is a two-point boundary value problem (TPBVP) about the input-output coordinates of the portal crane. Then, the time-varying control nominal trajectory (CNT) of the system is obtained by solving a TPBVP for the internal dynamics of the portal crane, and the feedforward controller is designed. In order to realize the anti-swinging transportation, the gain scheduling feedback controller (GSFC) is designed to stabilize the motion along the feedforward trajectories in real time. When the crane is staying at the start/end point of the transportation or at any other position, the linear quadratic regulator (LQR) controller optimized by the particle swarm optimization (PSO) algorithm is used to keep the system stabilizing. Moreover, in order to improve the robustness of the system, the feedback controller is improved by an ${H}_{\infty }$ feedback control, and the numerical experiments are carried out. Finally, the numerical experiments are carried out. The experimental results verify the effectiveness of the control scheme proposed in this paper, which can realize fast PTP transportation with high efficiency and good stability.

Disclosure

The authors have nothing to report.

Conflicts of Interest

The authors declare no conflicts of interest.

Open Research

Data Availability Statement

Data sharing not applicable to this article as no datasets were generated or analysed during the current study.

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Volume46, Issue4

July/August 2025

Pages 1402-1416

Fast Point-To-Point Transportation of the Portal Crane via Double-Input Inversion-Based Feedforward and Feedback Control

ABSTRACT

Disclosure

Conflicts of Interest

Open Research

Data Availability Statement

References

Citing Literature

References

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Fast Point-To-Point Transportation of the Portal Crane via Double-Input Inversion-Based Feedforward and Feedback Control

ABSTRACT

Disclosure

Conflicts of Interest

Open Research

Data Availability Statement

References

Citing Literature

References

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