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Adaptive Control of a Flexible Crane System With the Boundary Output Constraint
Abstract
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.
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Citations
Cited by
Cooperative control of a nonuniform gantry crane with constrained tension
He, W., & Ge, S. S. (2016) · Automatica · doi:10.1016/j.automatica.2015.12.026 · Cited by 549
Self-citationNeural Networks-Based Adaptive Control for Nonlinear State Constrained Systems With Input Delay
Li, D.-P., Liu, Y.-J., Tong, S., Chen, C. L. P., & Li, D.-J. (2019) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2018.2799683 · Cited by 382
Adaptive Controller Design-Based ABLF for a Class of Nonlinear Time-Varying State Constraint Systems
Liu, Y.-J., Lu, S., Li, D., & Tong, S. (2017) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2016.2633007 · Cited by 284
Yang, G. (2020) · Transactions of the Institute of Measurement and Control · doi:10.1177/0142331219883056 · Cited by 22
Metadata
- Authors
- He, W., Zhang, S., & Ge, S. S.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2014-08
- Volume
- 61
- Issue
- 8
- Pages
- 4126-4133
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W1992410217
- Cited by
- 490
- References
- 0
- FWCI
- 60.50
- Type
- journal article
- Language
- en
- Open access
- closed
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- He, W., Zhang, S., & Ge, S. S. (2014). Adaptive Control of a Flexible Crane System With the Boundary Output Constraint. IEEE Transactions on Industrial Electronics. https://doi.org/10.1109/tie.2013.2288200
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