Robust Command Shaped Vibration Control for Stacker Crane Subject to Parameter Uncertainties and External Disturbances

• Published in: IEEE transactions on industrial electronics (1982) Vol. 71; no. 11; pp. 14740 - 14752
• Main Authors: Li, Gang, Ma, Xin, Li, Yibin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Command shaped control; Control methods; Cranes; Disturbances; Dynamic models; flexible mechanical system; Flexible structures; Frequency ranges; Hoisting; Manipulator dynamics; Mathematical models; multibody dynamics modeling; Neural networks; Parameter estimation; Parameter modification; Parameter robustness; Parameter uncertainty; Payloads; Real time; Rejection; Robust control; Uncertain systems; underactuated crane system; Vibration control; vibration suppression; Vibrations

The payload hoisting and mass variations increase the control difficulty of the underactuated stacker crane. Especially, vibration control of flexible structure with external disturbances is a great challenge. This article proposes a robust command shaped vibration control method for the stacker cra...