Adaptive Control of a Flexible Crane System With the Boundary Output Constraint

被引：443

作者：

He, Wei ^{[1
]}

Zhang, Shuang ^{[2
]}

Ge, Shuzhi Sam ^{[3
,4
]}

机构：

[1] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Peoples R China

[2] Univ Elect Sci & Technol China, Sch Aeronaut & Astronaut, Chengdu 611731, Peoples R China

[3] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

[4] Univ Elect Sci & Technol China, Inst Robot, Sch Comp Sci & Engn, Chengdu 611813, Peoples R China

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2014年 / 61卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Adaptive control; boundary control; distributed parameter system; flexible crane; partial differential equation (PDE); ITERATIVE LEARNING CONTROL; FEEDBACK STABILIZATION; DISTURBANCE OBSERVER; VARYING DISTURBANCE; NONLINEAR-SYSTEMS; MARINE RISERS; TRACKING; BEAM; DYNAMICS; CABLE;

D O I：

10.1109/TIE.2013.2288200

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 flexible cable with a payload attached at the bottom is considered to be the model of a crane system used for positioning the payload. The dynamics of the flexible cable coupled with the tip payload contribute to a hybrid system represented by partial-ordinary differential equations. An integral-barrier Lyapunov function (IBLF)-based control is proposed to suppress the undesirable vibrations of the flexible crane system with the boundary output constraint. Adaption laws are developed for handling parametric uncertainties. A novel IBLF is adopted to guarantee the uniform stability of the closed-loop systems without the violation of the boundary constraint. All closed-loop signals are ensured to be bounded. Extensive simulations are demonstrated to illustrate the performance of the control system.

引用

页码：4126 / 4133

页数：8

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