Flatness-Based Motion Planning and Control Strategy of a 3D Overhead Crane
This paper investigates an advanced control strategy for a three-dimensional overhead crane (3DOC) to address the limitations of traditional control methods in trajectory optimization, disturbance rejection, and robustness. Conventional approaches often fail to provide optimal motion planning that h...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10818632/ |
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| author | Van Chung Nguyen Hue Luu Thi Hoa Bui Thi Khanh Danh Huy Nguyen Minh Nhat Vu Tung Lam Nguyen |
| author_facet | Van Chung Nguyen Hue Luu Thi Hoa Bui Thi Khanh Danh Huy Nguyen Minh Nhat Vu Tung Lam Nguyen |
| author_sort | Van Chung Nguyen |
| collection | DOAJ |
| description | This paper investigates an advanced control strategy for a three-dimensional overhead crane (3DOC) to address the limitations of traditional control methods in trajectory optimization, disturbance rejection, and robustness. Conventional approaches often fail to provide optimal motion planning that handles all the dynamic constraints of the 3DOC and cannot simultaneously address system uncertainty and external disturbances. Moreover, these methods cannot guarantee the convergence time of the observer and controllers. To fill this gap, we developed a time-optimal motion planning algorithm based on differential flatness theory incorporating dynamic constraints and Control limits. Additionally, a Fixed-Time Extended State Observer (FxTESO) is implemented to estimate states and disturbances in fixed time, and a Terminal Sliding Mode Control (TSMC) ensures robust trajectory tracking. Simulation studies and lab-scale experiments on the 3DOC demonstrate the method’s improvements in trajectory optimization, disturbance rejection, and overall performance. Compared to existing control strategies, the proposed framework provides enhanced trajectory accuracy, robustness, and fixed-time disturbance rejection, confirming its effectiveness for 3DOC applications. |
| format | Article |
| id | doaj-art-c7722943e92441ca814d664835219a5a |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-c7722943e92441ca814d664835219a5a2025-01-15T00:02:32ZengIEEEIEEE Access2169-35362025-01-01137053707010.1109/ACCESS.2024.352440410818632Flatness-Based Motion Planning and Control Strategy of a 3D Overhead CraneVan Chung Nguyen0https://orcid.org/0009-0007-6615-8790Hue Luu Thi1https://orcid.org/0009-0000-7083-9037Hoa Bui Thi Khanh2Danh Huy Nguyen3Minh Nhat Vu4https://orcid.org/0000-0003-0692-8830Tung Lam Nguyen5https://orcid.org/0000-0003-4108-8275Advanced Robotics and Automation (ARA) Laboratory, University of Nevada, Reno, NV, USAElectric Power University, Hanoi, VietnamHanoi University of Industry, Hanoi, VietnamHanoi University of Science and Technology, Hanoi, VietnamAutomation and Control Institute (ACIN), TU Wien, Vienna, AustriaHanoi University of Science and Technology, Hanoi, VietnamThis paper investigates an advanced control strategy for a three-dimensional overhead crane (3DOC) to address the limitations of traditional control methods in trajectory optimization, disturbance rejection, and robustness. Conventional approaches often fail to provide optimal motion planning that handles all the dynamic constraints of the 3DOC and cannot simultaneously address system uncertainty and external disturbances. Moreover, these methods cannot guarantee the convergence time of the observer and controllers. To fill this gap, we developed a time-optimal motion planning algorithm based on differential flatness theory incorporating dynamic constraints and Control limits. Additionally, a Fixed-Time Extended State Observer (FxTESO) is implemented to estimate states and disturbances in fixed time, and a Terminal Sliding Mode Control (TSMC) ensures robust trajectory tracking. Simulation studies and lab-scale experiments on the 3DOC demonstrate the method’s improvements in trajectory optimization, disturbance rejection, and overall performance. Compared to existing control strategies, the proposed framework provides enhanced trajectory accuracy, robustness, and fixed-time disturbance rejection, confirming its effectiveness for 3DOC applications.https://ieeexplore.ieee.org/document/10818632/Three-dimensional overhead cranetime-optimal motion planningdifferential flatnessfixed-time extended state observerterminal sliding mode control |
| spellingShingle | Van Chung Nguyen Hue Luu Thi Hoa Bui Thi Khanh Danh Huy Nguyen Minh Nhat Vu Tung Lam Nguyen Flatness-Based Motion Planning and Control Strategy of a 3D Overhead Crane IEEE Access Three-dimensional overhead crane time-optimal motion planning differential flatness fixed-time extended state observer terminal sliding mode control |
| title | Flatness-Based Motion Planning and Control Strategy of a 3D Overhead Crane |
| title_full | Flatness-Based Motion Planning and Control Strategy of a 3D Overhead Crane |
| title_fullStr | Flatness-Based Motion Planning and Control Strategy of a 3D Overhead Crane |
| title_full_unstemmed | Flatness-Based Motion Planning and Control Strategy of a 3D Overhead Crane |
| title_short | Flatness-Based Motion Planning and Control Strategy of a 3D Overhead Crane |
| title_sort | flatness based motion planning and control strategy of a 3d overhead crane |
| topic | Three-dimensional overhead crane time-optimal motion planning differential flatness fixed-time extended state observer terminal sliding mode control |
| url | https://ieeexplore.ieee.org/document/10818632/ |
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