A tracking control method with the fast finite-time command filter for four degrees of freedom tower cranes

Author:

Liu Cungen1,Meng Shuo1ORCID,Liu Xiaoping2,Zhao Yajing2,Wang Huanqing3ORCID,Li Chengdong1

Affiliation:

1. School of Information and Electrical Engineering, Shandong Jianzhu University, P.R. China

2. Department of Engineering, Lakehead University, Canada

3. Department of Mathematics, Bohai University, P.R. China

Abstract

Tower cranes are the main tool of the horizontal and vertical transportation for construction, which are always driven by operators slowly to prevent payloads from large swing, such that efficiency is low. To deal with the problem, a finite-time tracking control method based on fast command filters is proposed, which can eliminate the tracking error in finite time and restrain the swing at the same time. The asymptotic stability is proved by Lyapunov technique. Finally, the hardware experiment is carried out and compared with the existing methods on the self-built tower crane experimental platform, and the pole placement method is used to select control parameters. The effectiveness and superiority are verified by the experimental results.

Funder

The Key Research and Development Program of Shandong Province

the Innovation Team of Jinan

Publisher

SAGE Publications

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