期刊名称：International Journal of Applied Mathematics and Computer Science
电子版ISSN：2083-8492
出版年度：2019
卷号：29
期号：4
页码：1-10
DOI：10.2478/amcs-2019-0051
出版社：De Gruyter Open
摘要：We introduce a control strategy to solve the regulation control problem, from the perspective of trajectory planning, for
an uncertain 3D overhead crane. The proposed solution was developed based on an adaptive control approach that takes
advantage of the passivity properties found in this kind of systems. We use a trajectory planning approach to preserve the
accelerations and velocities inside of realistic ranges, to maintaining the payload movements as close as possible to the
origin. To this end, we carefully chose a suitable S-curve based on the Bezier spline, which allows us to efficiently handle
the load translation problem, considerably reducing the load oscillations. To perform the convergence analysis, we applied
the traditional Lyapunov theory, together with Barbalat’s lemma. We assess the effectiveness of our control strategy with
convincing numerical simulations.
