Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes
In the positioning and anti-swing control of bridge crane, a model-free adaptive control (MFAC) based on data-driven is proposed in order to eliminate the dependence of controller design on the model and the influence of unmodeled dynamics and uncertain disturbances on the controller performance. On...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10121155/ |
| _version_ | 1797829168739647488 |
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| author | Xuejuan Shao Xiujian Zou Jinggang Zhang Zhicheng Zhao Zhimei Chen Liangliang Zhou Zhenyan Wang |
| author_facet | Xuejuan Shao Xiujian Zou Jinggang Zhang Zhicheng Zhao Zhimei Chen Liangliang Zhou Zhenyan Wang |
| author_sort | Xuejuan Shao |
| collection | DOAJ |
| description | In the positioning and anti-swing control of bridge crane, a model-free adaptive control (MFAC) based on data-driven is proposed in order to eliminate the dependence of controller design on the model and the influence of unmodeled dynamics and uncertain disturbances on the controller performance. Only using the input and output data of the bridge crane system, the virtual full format dynamic linearized data model of the bridge crane nonlinear system is obtained through the data-driven modeling method. On the basis of this virtual data model, a model-free adaptive control law and a pseudo-Jacobian matrix estimation algorithm are designed according to the optimization theory under the constraint conditions. The stability of the closed loop system and the convergence of the system error are analyzed and proved by Lipschitz condition and inequality theory. The effectiveness of the control strategy for positioning and anti-swing control of bridge cranes is verified on simulated simulation and experimental platform of bridge crane. The results show that the proposed method is feasible and has good anti-disturbance performance and robustness. |
| first_indexed | 2024-04-09T13:16:06Z |
| format | Article |
| id | doaj.art-e064a1e4d2bd437ea60fe035152902b0 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-09T13:16:06Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-e064a1e4d2bd437ea60fe035152902b02023-05-11T23:00:14ZengIEEEIEEE Access2169-35362023-01-0111448424485310.1109/ACCESS.2023.327360310121155Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge CranesXuejuan Shao0https://orcid.org/0000-0002-8663-5829Xiujian Zou1https://orcid.org/0009-0004-4103-0422Jinggang Zhang2Zhicheng Zhao3Zhimei Chen4Liangliang Zhou5Zhenyan Wang6College of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, ChinaCollege of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, ChinaCollege of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, ChinaCollege of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, ChinaCollege of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, ChinaTaiyuan Heavy Industry Company Ltd., Taiyuan, ChinaCollege of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, ChinaIn the positioning and anti-swing control of bridge crane, a model-free adaptive control (MFAC) based on data-driven is proposed in order to eliminate the dependence of controller design on the model and the influence of unmodeled dynamics and uncertain disturbances on the controller performance. Only using the input and output data of the bridge crane system, the virtual full format dynamic linearized data model of the bridge crane nonlinear system is obtained through the data-driven modeling method. On the basis of this virtual data model, a model-free adaptive control law and a pseudo-Jacobian matrix estimation algorithm are designed according to the optimization theory under the constraint conditions. The stability of the closed loop system and the convergence of the system error are analyzed and proved by Lipschitz condition and inequality theory. The effectiveness of the control strategy for positioning and anti-swing control of bridge cranes is verified on simulated simulation and experimental platform of bridge crane. The results show that the proposed method is feasible and has good anti-disturbance performance and robustness.https://ieeexplore.ieee.org/document/10121155/Bridge cranedata-driven controldynamic linearized data modelmodel-free adaptive control |
| spellingShingle | Xuejuan Shao Xiujian Zou Jinggang Zhang Zhicheng Zhao Zhimei Chen Liangliang Zhou Zhenyan Wang Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes IEEE Access Bridge crane data-driven control dynamic linearized data model model-free adaptive control |
| title | Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes |
| title_full | Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes |
| title_fullStr | Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes |
| title_full_unstemmed | Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes |
| title_short | Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes |
| title_sort | data driven model free adaptive positioning and anti swing control for bridge cranes |
| topic | Bridge crane data-driven control dynamic linearized data model model-free adaptive control |
| url | https://ieeexplore.ieee.org/document/10121155/ |
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