Tower cranes are typical underactuated system commonly used on land as a large transport device. Moreover, workers regularly move loads and adjust the length of the rope simultaneously to improve the efficiency of crane transport. However, most of these methods require accurate velocity feedback and do not take into account the lifetime of the driving motor and variable rope length, leading to frequent safety accidents in practical working conditions. Therefore, in this paper, we propose an amplitude saturated nonlinear output feedback controller for five-degree-of-freedom (5-DOF) underactuated tower cranes without velocity measurement. Firstly, all studies are based on a variable rope length tower crane system. Secondly, an amplitude saturated nonlinear output feedback controller without velocity measurement is designed. Furthermore, Lyapunov theorem and LaSalle’s invariance principle are used to prove the asymptotic stability of the closed-loop system at the target position. Finally, we experimentally demonstrate the effectiveness of the proposed controller.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Amplitude Saturated Nonlinear Output Feedback Controller Design for Underactuated 5-DOF Tower Cranes Without Velocity Measurement


    Contributors:
    Xia, Jiyu (author) / Ouyang, Huimin (author)


    Publication date :

    2024-08-01


    Size :

    1442900 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Nonlinear Output Feedback Control of Three-Dimensional Underactuated Shipboard Rotary Cranes

    Chen, Yuzhu / Qian, Yuzhe / Fang, Yongchun et al. | Springer Verlag | 2021



    Amplitude saturation nonlinear output feedback control method and system for tower crane

    OUYANG HUIMIN / XIA JIYU | European Patent Office | 2023

    Free access

    Attitude Control for Underactuated Spacecraft Without Angular Velocity Measurement

    Wei, Jianli / Lyu, Wenhao / Li, Jinghao et al. | Springer Verlag | 2025


    Tower cranes and transporters

    Engineering Index Backfile | 1909