Nested saturation control for overhead crane systems

被引：64

作者：

Liu, Rongjie ^{[1
]}

Li, Shihua ^{[1
]}

Ding, Shihong ^{[2
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

[2] Jiangsu Univ, Coll Elect & Informat Engn, Zhenjiang, Peoples R China

来源：

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2012年 / 34卷 / 07期

基金：

中国国家自然科学基金; 高等学校博士学科点专项科研基金;

关键词：

Finite-time stability; nested saturation; overhead crane; upper-triangular system; FINITE-TIME STABILIZATION;

D O I：

10.1177/0142331211423285

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new control strategy for overhead crane systems. First, by utilizing a coordinate change, the underactuated overhead crane dynamical model can be transformed into an upper-triangular form. Second, a finite-time controller is designed based on the nonlinear nested saturation and adding a power integrator technique. Rigorous proof shows that the controller can guarantee finite-time stability of the closed-loop system. Simulations show the effectiveness of the proposed method.

引用

页码：862 / 875

页数：14

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