Control Of An Underactuated Double-Pendulum Overhead Crane Using Improved Model Reference Command Shaping: Design, Simulation And Experiment

• Main Authors: Mohamed, Zaharuddin, Jaafar, Hazriq Izzuan, Ahmad, Mohd Ashraf, Abdul Wahab, Norhaliza, Ramli, Liyana, Shaheed, Mohammad Hasan
• Format: Article
• Language: English
• Published: Academic Press 2021
• Online Access: http://eprints.utem.edu.my/id/eprint/25739/2/CONTROL%20OF%20AN%20UNDERACTUATED%20DOUBLE-PENDULUM%20OVERHEAD%20CRANE%20USING%20IMPROVED%20MODEL%20REFERENCE%20COMMAND%20SHAPING%20DESIGN%2C%20SIMULATION%20AND%20EXPERIMENT.PDF; http://eprints.utem.edu.my/id/eprint/25739/; https://www.sciencedirect.com/science/article/pii/S0888327020307445; 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...