Boundary Vibration Control of a Variable Length Crane System in Two Dimensional Space with Output Constraints

被引：3
作者：
He, Xiuyu [1 ]
Shi, Jing [2 ,3 ]
He, Wei [1 ]
Sun, Changyin [4 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Univ Elect Sci & Technol China, Ctr Robot, Chengdu 611731, Sichuan, Peoples R China
[3] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Sichuan, Peoples R China
[4] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
Crane system; Longitudinal-transverse coupled vibration; Variable length; Boundary control; STABILIZATION; DYNAMICS; FEEDBACK; DESIGN; CABLE;
D O I：
10.1016/j.ifacol.2017.08.1892
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 hoisting cable with varying length under the external disturbances is investigated. The dynamical modeling for cable system takes into account variable length, variable tension and variable speed. The coupled vibrations of the cable in the longitudinal-transverse directions are suppressed by the designed control inputs acted on the boundary of the cable. Considering the output constraint problems, a barrier Lyapunov function (BLF)-based control is proposed to generate novel boundary control algorithms which reduce the undesirable vibrations of the flexible crane system and to prove the boundedness of the states. Effectiveness and performance of the proposed control schemes are depicted via several simulation examples. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
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页码：11996 / 12001
页数：6
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