Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: Design, simulation and experiment

• Main Authors: Jaafar, H.I., Mohamed, Z., Mohd Ashraf, Ahmad, Wahab, N.A., Ramli, L., Shaheed, M.H.
• Format: Article
• Language: English
• Published: Academic Press 2021
• Subjects: TA Engineering (General). Civil engineering (General); TK Electrical engineering. Electronics Nuclear engineering; TP Chemical technology
• Online Access: http://umpir.ump.edu.my/id/eprint/33183/1/Control%20of%20an%20underactuated%20double-pendulum%20overhead%20crane%20using%20improved.pdf; http://umpir.ump.edu.my/id/eprint/33183/; https://doi.org/10.1016/j.ymssp.2020.107358; https://doi.org/10.1016/j.ymssp.2020.107358

This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley po...