Closed-loop Analysis Research Articles

Research on the potential of integrated vehicle control with closed-loop phase portrait analysis

The phase portrait is an important tool for analyzing vehicle stable region widely utilized in vehicle dynamic control systems. At handling limits, traditional open-loop vehicle stable region constraints will restrict the vehicle control ability, while the closed-loop actuator interventions can help states outside the open-loop stable region converge back to stable origin, which is more suitable for constraining vehicle states under extreme working conditions. This article systematically analyzes the potential of integrated vehicle control with closed-loop phase portrait. Firstly, a vehicle dynamic model considering actuator dynamics and tire transient characteristics is established. Then, a numerical optimal control method for calculating closed-loop controllability region is introduced. The controllability region under different friction coefficients, vehicle speeds, convergence time, vehicle steering response characteristics, actuator time constants, and tire transient characteristics are discussed and analyzed. In terms of different control inputs combinations, this article displays the controllability regions under different front steering angles, rear steering angles, direct yaw moments, and their synergistic performances. Control input laws derived from numerical optimization are summarized in two specific directions. Finally, a comparative analysis of open-loop stable regions and closed-loop controllability regions confirms the superiority of the proposed method. Potential applications of the systematic analysis are also discussed.

A Novel Linear-Based Closed-Loop Control and Analysis of Solid-State Transformer

In this paper, a new linear-based closed-loop control method for a Solid-State Transformer (SST) has been proposed. In this new control method, individual current and voltage loops for each of the power conversion stages (AC-DC, DC-DC, DC-AC) are implemented. The feedback between the input and output control signals for each loop is achieved through the voltage on the DC link capacitors and the current transferred between the converters. This enables the SST to be controlled easily in a linear-based closed-loop manner without the need for complex computations. In order to evaluate the performance analysis of the proposed control system, a simulation of an SST with approximately 10 kVA apparent power was performed. Based on the obtained simulation results, the response time of the proposed control method for dynamic load variations was proved to be in the range of 40 milliseconds, and it has been observed that this method allows electrical power to be transferred from the load to the grid. The power factor value of SST under inductive load is measured to be approximately 99%, and the overall system efficiency is 96% and above, indicating that this proposed new control method has very high performance.

A Proportional–Integral–Derivative type regulation scheme with non-Lipschitz control actions for mechanical systems with constrained inputs

Motivated by the benefits that recent finite-time continuous control approaches have proven to give rise, this work aims to design a proportional–integral–derivative (PID) type control scheme for the global regulation of constrained-input mechanical systems that incorporates design features characteristic of such finite-time continuous algorithms. This is proven to be achieved through a more general PID type control structure that incorporates exponential weights on the P and D type terms, through which such control actions are permitted to loose Lipschitz-continuity at the desired equilibrium values. This entails an important challenge consisting on the introduction of an appropriate analytical framework and the development of a suitable closed-loop analysis through which the resulting design is properly supported. The study is complemented by experimental tests which show that appropriate (less-than-unity) values on the incorporated exponential weights indeed give rise to closed-loop improvements characteristic of finite-time continuous control approaches, such as reduction of overshoot on the position error responses and of the control effort, alleviating such a performance adjustment task.

Design and analysis of soft-switching isolated step-up/down DC–DC converter for fuel cell vehicles and EV battery charging applications

ABSTRACT With the increasing adoption of non-conventional energy sources, there is a significant demand for DC energy conversion systems as they play a crucial role in integrating power sources and loads that operate at different voltage levels. In this paper, a novel DC–DC converter topology is presented, which can efficiently perform Buck-boost operation with minimal duty cycle operation, making it an attractive option for DC energy conversion applications. Furthermore, its switching voltage stress is less than the voltage present at the output, allowing the use of low power rated devices. Additionally, the topology contains isolation between the load and source, which prevents circulating currents and protects the source from load harmonics. The proposed converter has the ability to achieve soft switching without using any extra circuitry. Moreover, the presented converter is evaluated against recently developed topologies in terms of active/passive components, gain, efficiency, and switching stress. Closed-loop analysis is done for the proposed converter using small-signal modeling. The converter is tested by subjecting it to a sudden step change at the input voltage from 20 V to 40 V in boost condition while maintaining a constant output voltage of 240 V. Additionally, load disturbances are introduced to assess the system’s robustness in closed-loop operation. In the laboratory, A 100-W prototype of the presented converter is built, which gives an efficiency of 95% at the rated load condition.

Robust trajectory planning for non-cooperative target rendezvous based on closed-loop uncertainty analysis

A robust trajectory planning method for non-cooperative target rendezvous is investigated based on closed-loop uncertainty analysis. The proposed method addresses the issue that uncertainties affect the optimality of objective functions and the reliability of constraints. Considering multiple uncertainties, a stochastic optimal rendezvous model with a robustness performance index and chance constraints is presented with line-of-sight dynamics. The guidance model, angles-only navigation model and control model are derived, and uncertainty propagation equations for closed-loop GN&C system is proposed by using linear covariance analysis. The stochastic optimal rendezvous model is transformed into a robust optimal rendezvous model by using 3-σ of the random variables. The genetic algorithm is used to solve the robust trajectory planning problem, and a series of examples demonstrate that the robust maneuver solution can be significantly better than the solution corresponding to deterministic trajectory optimization problem.

Chemical and Electrophysiological Characterisation of Headspace Volatiles from Yeasts Attractive to Drosophila suzukii.

Chemical control of Drosophila suzukii (Diptera: Drosophilidae) based on the use of insecticides is particularly challenging as the insect attacks ripening fruits shortly before harvest. An alternative strategy may rely on the use of yeasts as phagostimulants and baits, applied on canopy as attract-and-kill formulations. The aim of this research was to identify the most attractive among six yeast species for D. suzukii: Saccharomyces cerevisiae, Hanseniaspora uvarum, Clavispora santaluciae, Saccharomycopsis vini, Issatchenkia terricola, and Metschnikowia pulcherrima. The volatile profile of C. santaluciae was described for the first time. Behavioural experiments identified H. uvarum and S. vini as the most attractive yeasts. The characterization of yeast headspace volatiles using direct headspace (DHS) and solid-phase microextraction (SPME) revealed several strain-specific compounds. With DHS injection, 19 volatiles were characterised, while SPME revealed 71 compounds constituting the yeast headspace. Both analyses revealed terpenoids including β-ocimene, citronellol, (Z)-geraniol (nerol), and geranial as distinct constituents of S. vini. H. uvarum and S. vini were further investigated using closed-loop stripping analysis (CSLA) and electroantennography. Out of 14 compounds quantified by CSLA, ethyl acetate, isoamyl acetate, β-myrcene, benzaldehyde and linalool were detected by D. suzukii antennae and might generate the strong attractiveness of S. vini and H. uvarum. Our results highlight a strong attraction of D. suzukii to various yeasts associated with both the flies and their habitat and demonstrate how different sampling methods can impact the results of volatile compound characterization. It remains to be demonstrated whether the distinct attraction is based on special adaptations to certain yeasts and to what extent the metabolites causing attraction are interchangeable.

Numerical simulation of postlaunching behaviors for a “balloon-borne UAV system”

PurposeThis paper aims to present numerical simulations for a series of flight processes for the postlaunching stage of the “balloon-borne UAV system.” It includes the balloon further ascent motion after airborne launching. In terms of unmanned aerial vehicles (UAVs), the tailspin state and the charge-out process with an anti-tailspin parachute-assisted suspending are analyzed. Then, the authors conduct trajectory optimization simulations for the long-distance gliding process.Design/methodology/approachThe balloon kinematics model and the parachute Kane multibody dynamic model are established. Using steady-state tailspin to reduced-order analysis and achieving change-out simulation by parachute suspension dynamic model. A reentry optimization control problem is developed and the Radau pseudo-spectral method is used to calculate the glide trajectory.FindingsThe established dynamic model and trajectory optimization method can effectively simulate the motion process of balloons and UAVs. The system mass reduction for launching UAVs will not cause damage to the balloon structure. The anti-tailspin parachute can reduce the UAV attack angles effectively. The UAV can glide to the designated target position by adjusting the attack angle and sideslip angle. The farthest flight distance after launching from 20 km height is 94 km and the gliding time is 40 min, which demonstrates the potential application advantage of high-altitude launching.Practical implicationsThe research content and related conclusions of this article achieve a closed-loop analysis of the flight mission chain for the “balloon-borne UAV system,” which provides simulation references for relevant balloon launching experiments.Originality/valueThis paper establishes a complete set of numerical simulation models and can effectively analyze various postlaunching behaviors.

Influence of gear modification on dynamic characteristics of star gearing system in geared turbofan (GTF) gearbox based on a closed-loop dynamic analysis method

The star gearing transmission system is a key component of a geared turbofan (GTF) aero-engine. Accurate prediction of the dynamic characteristics of the star gearing transmission system, especially after gear modification, is important for the design of high-performance engines. Firstly, this paper establishes a dynamic time-varying mesh stiffness (TVMS) and a comprehensive transmission error (TE) calculation model for herringbone gear pair considering changes in the meshing state. Then, the dynamic internal excitation calculation model is combined with the lumped parameter dynamic model of the system to form the “excitation–response–feedback” closed-loop coupling dynamic analysis method of the GTF star gearing system. Compared with traditional analysis methods, this method takes into account the effect of contact state changes on internal excitation during the calculation process and corrects internal excitation in real time. Finally, the effect of different topology modification schemes on the system's dynamic characteristics is investigated based on this method. The results show that the closed-loop coupled dynamics analysis method is able to capture contact state changes of the same gear pair at different moments and between different gear pairs at the same moment. Modified #2 is only to modify the planet gear. This scheme can effectively reduce the vibration displacement of the ring gear, and reduce the peak-to-peak value of the ring gear's vibration displacement in all directions by more than 70%. At the same time, the scheme also reduces the load-sharing coefficient of the internal and external meshing pairs of the system by 1.92% and 2.01%, respectively, and the peak-to-peak value of the dynamic factor of the internal and external meshing pairs can be reduced by 57.91% at most.

Closed-loop Supply Chain Model Analysis of Home Appliances based on Promotional Effort and Recycling Effort

Nowadays, a large number of home appliances have entered the node of renewal, if they can be properly disposed of and utilised, used home appliances can also be converted into renewable resources to achieve the economic cycle, and at the same time, green living and circular economy are increasingly accepted by the public. Recycling of used home appliances has both economic and social benefits. At the same time, promotional efforts invested in the market for home appliances have an obvious effect on increasing their market demand. Therefore, it is necessary to study the closed-loop supply chain of home appliances based on promotion and recycling efforts. In this paper, we use literature analysis, mathematical analysis and Stackelberg game analysis to construct a closed-loop supply chain model for home appliances based on promotional and recycling efforts after determining who is the promoter among manufacturers and retailers, and then compare and analyse the decisions and benefits of the supply chain members, taking into account their centralised and decentralised decision-making. The results of this paper show that: (1) when home appliance manufacturers, retailers and third-party recyclers of used home appliances make decentralised decisions, there is a double marginal effect, i.e., the supply chain members only consider their own benefits while ignoring the benefits of the supply chain as a whole, which results in the failure of this closed-loop supply chain system of home appliances to be coordinated. (2) When the retailer's promotional effort is greater, both the retail price and the retailer's profit are lower. (3) The greater the recycling effort of the third-party recycler of used home appliance products, the higher its recycling price, i.e., the consequent increase in recycling costs, leading to a decrease in its profit.

Theory and practice for assessing structural integrity and dynamical integrity of high-speed trains

PurposeThe safety and reliability of high-speed trains rely on the structural integrity of their components and the dynamic performance of the entire vehicle system. This paper aims to define and substantiate the assessment of the structural integrity and dynamical integrity of high-speed trains in both theory and practice. The key principles and approaches will be proposed, and their applications to high-speed trains in China will be presented.Design/methodology/approachFirst, the structural integrity and dynamical integrity of high-speed trains are defined, and their relationship is introduced. Then, the principles for assessing the structural integrity of structural and dynamical components are presented and practical examples of gearboxes and dampers are provided. Finally, the principles and approaches for assessing the dynamical integrity of high-speed trains are presented and a novel operational assessment method is further presented.FindingsVehicle system dynamics is the core of the proposed framework that provides the loads and vibrations on train components and the dynamic performance of the entire vehicle system. For assessing the structural integrity of structural components, an open-loop analysis considering both normal and abnormal vehicle conditions is needed. For assessing the structural integrity of dynamical components, a closed-loop analysis involving the influence of wear and degradation on vehicle system dynamics is needed. The analysis of vehicle system dynamics should follow the principles of complete objects, conditions and indices. Numerical, experimental and operational approaches should be combined to achieve effective assessments.Originality/valueThe practical applications demonstrate that assessing the structural integrity and dynamical integrity of high-speed trains can support better control of critical defects, better lifespan management of train components and better maintenance decision-making for high-speed trains.

Continuous finite-time terminal sliding mode to solve the tracking problem in a class of mechanical systems

The major contribution of this study is the feedback design of a finite-time convergence sliding mode control to solve the trajectory-tracking problem in a class of mechanical systems. Some advantages are that the controller presents a continuous signal by integration of the high-frequency switching term. Another benefit is the design and implementation of an uncertainty and disturbance estimator (UDE) to robustify the closed-loop system. We use Lyapunov tools to develop the closed-loop stability analysis and to give an expression of the convergence time [Formula: see text] t through this, we can reduce the convergence time by tuning the gains of the controller. We illustrate the performance of the proposed control structure via numerical simulations conducted for a mass-spring-damper system and experiments developed in a pendular system.

Novel dynamic control structure of reactive distillation process for isopropanol production via transesterification

Due to the complicated interaction between reaction and separation in a column, it was inherently challenging to design a control structure for the reaction distillation process. In this research, the control structures of the hybrid reactive distillation process combining pressure-swing distillation (RDC-HDC) and its thermal coupling (RDWC-HDC) processes, were explored for producing isopropanol (IPA) by isopropyl acetate (IPAC) with methanol (MeOH) transesterification. The control performances of only temperature control and temperature difference control schemes for RDC-HDC process were first investigated. The research results displayed that double temperature control (CS3) and temperature difference control schemes (CS4–1, CS4–2 and CS5) for the RDC-HDC process could shorten the maximum transient deviation, amplitude of oscillations and setting time in face with ±20% throughout and ±5% feed composition disturbances. To further improve control characteristics and make control structures concise, a novel control strategy (CS6) by a proportional controller adjusted by reverse action of an IPAC component controller in 34 trays for keeping IPAC composition at a certain range in the RDC-HDC process was developed based on the closed loop analysis before and after disturbance. The application of the innovative control structures (CST4) to the RDWC-HDC process was equally feasible in face of ±10% throughout and ±5% feed composition disturbances. The analysis of integral of squared error (ISE) indicated that a novel control strategy (CS6 and CST4) had better robustness and dynamic performance. These studies contributed to the development of controllability for hybrid reactive distillation processes to produce chemicals for reaction and separation.

Blockchain-based collaborative data analysis framework for distributed medical knowledge extraction

To ensure the privacy preservation and transparent use of regulated medical big data at decentralized and distributed medical institutions, this paper proposes a blockchain-based collaborative data analysis framework to realize multiparty secure data sharing and cooperative medical knowledge extraction through a transparent and regulatory machine learning approach. A smart contract is employed on the blockchain as the underlying technique to realize autonomous control and transparent regulation of closed-loop data acquisition and analysis. Considering the execution complexity of smart contracts for analysis collaboration, Petri net is adopted to formulize the workflows of smart contracts, and it acts as the underlying on-chain learning (OcL) approach. Finally, an experimental case study is conducted using real-life medical data to verify and evaluate the effectiveness and efficiency of our framework. A prototype system is established to demonstrate the real-life distributed knowledge extraction demand of our cooperating company. Four groups of experiments are designed and conducted to determine the effectiveness and efficiency of the learning process. The results show that the proposed framework significantly outperforms federated learning (FL) in terms of accuracy on small datasets, where the framework achieves an accuracy of 55.050% compared to FL. Meanwhile, the framework exhibits superior convergence in loss compared to FL, with a difference of 76.663%. In the case of big datasets, the framework achieves a faster completion of model training by 58.883%, with lower CPU utilization by 44.023% and lower memory utilization by 16.227% compared to FL.

Impact of the control properties on the energetic and economic performance of Heat-Integrated Distillation Columns under variable feed composition

Heat Integrated Distillation Columns (HIDiC) are highly energy-efficient technologies whose performance has been validated through robust optimization algorithms and practical tests. Despite these configurations are dynamically controllable technologies, the simultaneous relationship between dynamics and optimal energetic and economic performance under variable feed composition has not been analyzed. Thus, this paper tackles this gap in literature. Five binary mixtures and three feed composition were examined in this study. The optimization of these configurations was firstly achieved using a Boltzmann-based optimizer while the control properties were obtained through the closed-loop process analysis using the IAE criterion and rigorous simulations in Aspen Dynamics in a second stage. Results showed that the HIDiC configurations with the best dynamic behavior do not match with the HIDiC columns with the best energetic and economic performance. However, suboptimal HIDiC configurations experienced only slightly less energetic and economic benefits but better dynamic properties that the best HIDiC configurations. Particularly, the best suboptimal HIDiC columns to separate the mixtures with relative volatility (α) lower than 1.4 were determined for a feed composition of 25 mol% for the light component. Nevertheless, the most adequate HIDiC columns to separate mixtures with α>1.4 were obtained for equimolar feed composition and feed composition of 75% for the light component.

Adaptive consensus with limited information for uncertain nonlinear multi-agent systems

This paper investigates the adaptive consensus with limited information for a class of uncertain nonlinear multi-agent systems (MASs). The limited information, meaning the incomplete information transmitted between agents, stems from nonzero-kernel weight matrices of communication networks, which deserves concerns owing to its practical interest such as in privacy preserving and information compression. Apart from the limited/incomplete information, the paper considers nonlinear MASs with large uncertainties (without known upper bounds). This is essentially different from the existing results of linear systems and poses challenges for the design and analysis of adaptive consensus. As for fully distributed protocol design, dynamic high gains are introduced to compensate for the system uncertainties and for the unavailable global graph information. In closed-loop consensus analysis, a new Lyapunov function is constructed by utilising weight and incidence matrices instead of Laplacian matrix. It turns out that the designed protocol can guarantee the boundedness of closed-loop MASs signals and the convergent consensus. Two numerical examples are given to demonstrate the effectiveness of the proposed control scheme.

Autonomous Obstacle Avoidance and Trajectory Planning for Mobile Robot Based on Dual-Loop Trajectory Tracking Control and Improved Artificial Potential Field Method

In order to better meet the practical application needs of mobile robots, this study innovatively designs an autonomous obstacle avoidance and trajectory planning control strategy with low computational complexity, high cost-effectiveness, and the ability to quickly plan a collision-free smooth trajectory curve. This article constructs the kinematic model of the mobile robot, designs a dual-loop trajectory tracking control strategy for position control law and attitude control law algorithms, and improves the traditional artificial potential field method to achieve a good obstacle avoidance strategy for mobile robots. Based on the dual-loop trajectory tracking control and the improved artificial potential field method, the autonomous obstacle avoidance and trajectory planning scheme of the mobile robot is designed, and closed-loop stability verification and analysis are conducted on the overall control system. And through the detailed simulation and experiments, the advantages of the proposed method in trajectory tracking accuracy and motion stability compared to the existing methods are verified, showing good effectiveness and feasibility and laying a good foundation for the application of mobile robots in practical complex scenes.

Design and Research of Series Actuator Structure and Control System Based on Lower Limb Exoskeleton Rehabilitation Robot

Lower limb exoskeleton rehabilitation robots have become an important direction for development in today’s society. These robots can provide support and power to assist patients in walking and movement. In order to achieve better interaction between humans and machines and achieve the goal of flexible driving, this paper addresses the shortcomings of traditional elastic actuators and designs a series elastic–damping actuator (SEDA). The SEDA combines elastic and damping components in parallel, and the feasibility of the design and material selection is demonstrated through finite element static analysis. By modeling the dynamics of the SEDA, using the Bode plot and Nyquist plot, open-loop and closed-loop frequency domain comparisons and analyses were carried out, respectively, to verify the effect of damping coefficients on the stability of the system, and the stiffness coefficient ks = 25.48 N/mm was selected as the elastic element and the damping coefficient cs = 1 Ns/mm was selected as the damping element. A particle swarm optimization (PSO)-based algorithm was proposed to introduce the fuzzy controller into the PID control system, and five parameters, namely the the fuzzy controller’s fuzzy factor (ke, kec) and de-fuzzy factor (kp1, ki1, kd1), are taken as the object of the algorithm optimization to obtain the optimal fuzzy controller parameters of ke = 0.8, kec = 0.2, kp1 = 0.5, ki1 = 8, kd1 = −0.1. The joint torque output with and without external interference is simulated, and the simulation model is established in the MATLAB/Simulink environment The results show that when fuzzy PID control is used, the amount of overshooting in the system is 14.6%, and the regulation time is 0.66 s. This has the following advantages: small overshooting amount, short rise time, fast response speed, short regulation time, good stability performance, and strong anti-interference ability. The SEDA design structure and control method breaks through limitations of the traditional series elastic actuator (SEA) such as its lack of flexibility and stability, which is very helpful to improve the output effect of flexible joints.

Video coding using closed-loop texture analysis and synthesis

The compression of video content containing high-frequency textures using the Mean Squared Error (MSE) criterion or other similar distortion measures typically leads to very large bit rate assignments to these areas. However, we assume that the exact reproduction (in an MSE sense) is subjectively not required and that other measures and coding methods can be used leading to substantially lower bit rate assignments. One such measure is a global similarity measure and we demonstrate its suitability for assessing the distortion of such textures in the context of video coding. The above-mentioned concept is adapted to a new, generic, and fully automated video coding scheme that provides a texture analyzer at the encoder and a texture synthesizer at the decoder. The texture analyzer thereby identifies the target textures, where it is assumed that the viewer perceives the semantic meaning of the displayed texture rather than the specific details therein. The texture synthesizer regenerates an approximate version of the original texture based on corresponding meta data transmitted by the encoder. The texture itself is not coded in the sense of minimizing MSE or other similar distortion measures. The new approacch is integrated into an H.264/AVC video codec and yields bit rate reductions of up to 41% when compared at the same visual quality to a reference H.264/AVC codec.

Structured Deep Neural Network-Based Backstepping Trajectory Tracking Control for Lagrangian Systems.

Deep neural networks (DNNs) are increasingly being used to learn controllers due to their excellent approximation capabilities. However, their black-box nature poses significant challenges to closed-loop stability guarantees and performance analysis. In this brief, we introduce a structured DNN-based controller for the trajectory tracking control of Lagrangian systems using backing techniques. By properly designing neural network structures, the proposed controller can ensure closed-loop stability for any compatible neural network parameters. In addition, improved control performance can be achieved by further optimizing neural network parameters. Besides, we provide explicit upper bounds on tracking errors in terms of controller parameters, which allows us to achieve the desired tracking performance by properly selecting the controller parameters. Furthermore, when system models are unknown, we propose an improved Lagrangian neural network (LNN) structure to learn the system dynamics and design the controller. We show that in the presence of model approximation errors and external disturbances, the closed-loop stability and tracking control performance can still be guaranteed. The effectiveness of the proposed approach is demonstrated through simulations.

Assembly-Oriented Finite-Time Coordinated Control of Underactuated Dual Rotary Cranes for Payload Position and Attitude Regulation

With strong load capacity and high maneuverability of payload attitude regulation, dual rotary cranes (DRCs) are widely applied for transportation and assembly tasks in infrastructure construction. For DRCs, to achieve safe and accurate control of the payload position and attitude, it is necessary to enhance the motion synchronization of two cranes, under the premise of controlling more state variables with fewer control inputs based on nonlinear coupling dynamics; moreover, the finite-time convergence of positioning errors is also expected to be guaranteed for high efficiency. To this end, this paper proposes an assembly-oriented finite-time coordinated controller <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">without</i> any linearization to the nonlinear crane dynamics, which realizes accurate and stable regulation of the payload position and attitude through coordinated boom motions. To our knowledge, the proposed controller provides the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">first</i> closed-loop control solution to realize both horizontal and non-horizontal payload hoisting for DRCs based on practical assembly demands. Theoretically, through elaborate design of the synchronization error and coupling errors, the real-time information exchange between the two cranes is realized for the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">first</i> time, which enhances the boom motion synchronization while suppressing payload swings. Furthermore, by introducing continuous terminal sliding mode surfaces with a multi-layer nested structure, the finite-time convergence of the boom positioning errors and the synchronization error is ensured with chattering reduction. Additionally, rigorous closed-loop stability analysis is provided based on Lyapunov techniques and Barbalat’s Lemma. Finally, the effectiveness and robustness of the proposed controller are verified by hardware experimental results. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —This paper is motivated by the coordinated motion control problem of dual rotary cranes (DRCs), which aims to achieve safe and accurate control of the payload position and attitude oriented on practical assembly demands. At present, most control methods for DRCs only realize horizontal payload transportation, which not only ignores the requirements of payload attitude regulation in assembly tasks, but also lacks the guarantee for boom motion coordination and the finite-time convergence of state variables. To address these issues, based on the nonlinear crane dynamics <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">without</i> any linearization, this paper proposes an assembly-oriented finite-time coordinated controller for DRCs, which achieves precise and stable regulation of the payload position and attitude through coordinated boom motions, and simultaneously enhances the system rapidity by ensuring the finite-time convergence of boom positioning errors. Furthermore, the detailed controller design and stability analysis process is provided, and the effectiveness of the proposed method is verified by hardware experiments. In the future research, we will try to apply the proposed method to practical operations of DRCs for complex assembly tasks of large heavy objects.