Robust adaptive vibration control of a gantry crane system with flexible cable

被引：0
作者：
Huang, Xin [1 ]
Wu, Wei [1 ,3 ,4 ]
Lou, Xuyang [1 ,3 ,4 ]
Goerges, Daniel [2 ]
Zhang, Jiayang [1 ]
机构：
[1] Jiangnan Univ, Key Lab Adv Proc Control Light Ind, Minist Educ, Wuxi, Peoples R China
[2] Tech Univ Kaiserslautern, Dept Elect & Comp Engn, Kaiserslautern, Germany
[3] Jiangnan Univ, Key Lab Adv Proc Control Light Ind, Minist Educ, China, Wuxi 214122, Peoples R China
[4] Jiangnan Univ, Sch Internet Things Engn, Wuxi, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2024年 / 38卷 / 03期
关键词：
gantry crane; operator semigroup; partial differential equation; robust adaptive control; vibration control; SLIDING-MODE CONTROL; FEEDBACK STABILIZATION; STABILITY;
D O I：
10.1002/acs.3725
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a robust adaptive vibration control method for gantry crane system is proposed considering unknown parameters brought by unknown payload, cable length and tension. The control objective is to transport the cargo to the desired position while suppressing the vibration of the cable in the presence of unknown parameters. For this purpose, a boundary controller is designed with an adaptive law to compensate the parameter uncertainty of the system. The well-posedness of the closed-loop system is proved by means of operator semigroup theory and the asymptotic stability of the closed-loop system is analyzed. Finally, the effectiveness of the proposed control approach is demonstrated through both numerical simulation comparisons and physical experiments.
引用
收藏
页码：749 / 771
页数：23
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