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Title of Journal: Nonlinear Dyn

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Abbravation: Nonlinear Dynamics

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Springer Netherlands

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DOI

10.1002/ana.21520

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1573-269X

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Dynamics and trajectory tracking control of cooper

Authors: Sen Qian Bin Zi Huafeng Ding
Publish Date: 2015/08/19
Volume: 83, Issue: 1-2, Pages: 89-108
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Abstract

This paper addresses the dynamics and trajectory tracking control of cooperative multiple mobile cranes Compared with a single mobile crane cooperative cable parallel manipulators for multiple mobile cranes CPMMC are more complex in configuration which have the characters of both series and parallel manipulators Therefore for the CPMMC the forward as well as the inverse kinematics and dynamics include the difficulties of both series and parallel manipulators However the closed kinematic chain brings about potential benefits including sufficient accuracy higher cost performance better lifting capacity and security Firstly the forward and inverse kinematics of the CPMMC with point mass are derived with elimination method and the complete dynamic model of the CPMMC is established based on Lagrange equation and the complete kinematics Secondly considering the repetitive tasks and high security and precision requirement a robust iterative learning controller is designed for trajectory tracking on the basis of the linearization of the dynamics Thirdly taking the engineering practice into consideration two case studies are simulated with the same expected trajectory but with different weights of the loads Finally the designed controller is compared with traditional PD control algorithm via numerical simulation The results demonstrate the feasibility and superiority of the CPMMC and designed controller and provide a theoretical basis for the cooperation of multiple mobile cranes

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