Abstract
Vibration manipulation function as finite time settling function was used to design trajectories of the trolley of 2-dimensional overhead-travelling crane around an obstacle under piecewise feedforward control or piecewise sampled-data control. In this study, square-like or regular-octagon-like round path was planned to suppress vibration of the suspended load and to avoid collision to the obstacle. Two stage operations were performed to change the velocity of the trolley with operational angle α. In case the velocity change of the trolley, i.e. α, was small, piecewise feedforward control was succeeded along the designed routes. However, when the velocity change of the trolley was larger, we couldn’t suppress the vibration of the load, because of the nonlinearity of the pendulum. Regular-octagon-like path was better to control the crane, since velocity changing was small. When the crane was moved under the piecewise sampled-data control, the trajectory of load became more robust. However, the paths of the trolley itself were deformed. By limiting the acceleration small, open-loop control can be well performed in the 2-dimensional overhead-travelling crane.
