Fixed-Time Tracking Control of 3-D Collaborative Double Boom Cranes With Obstacle Avoidance and Prescribed Performance
针对三维协同双吊臂起重机，提出一种固定时间跟踪控制方法，同时实现避障和预设性能，提高安全性和效率。
Collaborative double boom cranes (CDBCs) play a crucial role in modern industries, offering superior hoisting capabilities and adaptability. However, the intricate dynamic characteristics of CDBCs, combined with demanding working requirements, pose significant challenges for control safety and efficiency. The existing control methods for CDBCs primarily focus on two-dimensional space and lack theoretical guarantees for rapid error convergence, which limits working efficiency. Furthermore, safety concerns arise when collision-free reference trajectories are unavailable or incomplete during dynamic operations. To this end, this article proposes a novel fixed-time tracking control method with obstacle avoidance and prescribed performance for three-dimensional (3-D) CDBCs. As the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">first</i> collision-free tracking method for 3-D CDBCs, the proposed method stands as a noteworthy contribution aimed at improving safety, accuracy, and efficiency. By simultaneously considering pitch and rotation motions, the proposed method expands the working space and efficiency of 3-D CDBCs. Elaborately designed sliding surfaces ensure fixed-time convergence, thereby improving response speed. For safe complete trajectory tracking, the proposed method can limit transient tracking errors within a prescribed performance function, preventing collisions from unexpected errors. In scenarios with unavailable or incomplete safe reference trajectories, autonomous obstacle avoidance is achieved through potential function design, thereby enhancing operation safety. Additionally, a thorough closed-loop stability analysis is provided based on Lyapunov methods. Finally, experimental results on a built CDBC prototype offer validation for the tracking and obstacle avoidance performance of the proposed method under various working conditions.