Authors

Steven Bandong, Bayu Jayawardhana, Santiago Sanchez-Escalonilla Plaza, Yul Yunazwin Nazaruddin, Endra Joelianto

Abstract

In this paper, we present a novel underactuated gantry crane (GC) systems where an extra degree-of-freedom actuation is introduced to control the trolley position and its sway angle during motion. The proposed gantry crane systems resembles a prismatic-revolute-prismatic (PRP) robotic configuration where the revolute joint corresponds to the sway angle which is not actuated. Firstly, an energy-based modeling of the PRP-GC systems is presented where both Euler-Lagrange and port-controlled Hamiltonian formalisms are used. Secondly, we present the design of a Neural Interconnection and Damping Assignment Passivity-Based Controller (N-IDA-PBC) that allows for an automated learning of an IDA-PBC controller, where the solutions to the corresponding IDA-PBC matching PDE are not trivial for underactuated systems. Finally, the efficacy of the proposed N-IDA-PBC is evaluated through Monte Carlo simulations, where the neural networks training of N-IDA-PBC uses \( 3,000 \) randomly generated data points and \( 20,000 \) samples of Monte-Carlo simulation are performed, taking into account uncertainties in the systems’ parameters, including initial states, physical damping, and payload masses. The Monte-Carlo simulations show that the trained N-IDA-PBC is able to regulate the trolley position and sway angle to the set-point position and it is robust against parameter uncertainties.

Citation

  • Journal: IEEE Transactions on Intelligent Transportation Systems
  • Year: 2025
  • Volume: 26
  • Issue: 8
  • Pages: 11754–11766
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • DOI: 10.1109/tits.2025.3563314

BibTeX

@article{Bandong_2025,
  title={{Modeling and Control of PRP-Gantry Crane Systems via Neural IDA-PBC}},
  volume={26},
  ISSN={1558-0016},
  DOI={10.1109/tits.2025.3563314},
  number={8},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Bandong, Steven and Jayawardhana, Bayu and Sanchez-Escalonilla Plaza, Santiago and Yunazwin Nazaruddin, Yul and Joelianto, Endra},
  year={2025},
  pages={11754--11766}
}

Download the bib file

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