Tracking control design for a multi-degree underactuated flexible-cable overhead crane system with large swing angle based on singular perturbation method and an energy-shaping technique
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Bibliographic record
Abstract
A flexible-cable overhead crane system having large swing is studied as a multi-degree underactuated system. To resolve the system dynamics complexities, a second order singular perturbation (SP) formulation is developed to divide the crane dynamics into two one-degree underactuated fast and slow subsystems. Then, a control system is designed based on the two-time scale control (TTSC) method to: (a) transfer the payload to a desired location and decrease the payload swing, by a nonlinear controller for slow dynamics; and (b) suppress transverse vibrations of the cable, by a linear controller for fast dynamics. The nonlinear controller is designed based on an energy shaping technique according to the controlled Lagrangian method. To demonstrate the control system effectiveness, an example of the flexible cable crane systems with a lightweight payload is considered to perform simulations. In addition to the proposed control system, two other controllers; namely, a linear controller based on the linear–quadratic regulator method and a TTSC based on the approximate SP model and partial feedback linearization, are applied to the system for comparison. Also, by applying a disturbance force to the trolley and considering 10% uncertainty in crane parameters, the control performance against disturbances and parameter uncertainties is investigated.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it