Publications / 2020 Proceedings of the 37th ISARC, Kitakyushu, Japan

Constraint Control of a Boom Crane System

Michele Ambrosino, Arnaud Dawans and Emanuele Garone
Pages 499-506 (2020 Proceedings of the 37th ISARC, Kitakyushu, Japan, ISBN 978-952-94-3634-7, ISSN 2413-5844)

Boom cranes are among the most used cranes to lift heavy loads. Although fairly simple mechanically, from the control viewpoint this kind of crane is a nonlinear underactuated system which presents several challenges, especially when controlled in the presence of constraints. To solve this problem, we propose an approach based on the ExplicitReference Governor (ERG), which does not require any online optimization, thus making it computationally inexpensive. The proposed control scheme is able to steer the crane to a desired position ensuring the respect of limited joint ranges, maximum oscillation angle, and the avoidance of static obstacles.

Keywords: Boom crane; Constrain control; Obstacle avoidance; Explicit reference governor; underactuated system