Adaptive Control Design for a Nonuniform Gantry Crane with Constrained Tension
In this paper,the control problem is addressed for a hybrid PDE-ODE system that describes a nonuniform gantry crane system with constrained tension.A bottom payload hangs from the top gantry by connecting a flexible cable.The flexible cable is nonuniform due to the spatiotemporally varying tension applied to the system.Cooperative control laws are proposed and the Integral-Barrier Lyapunov Functions are employed for stability analysis of the closed-loop system.Adaption laws are developed for handling parametric uncertainties.The bounded stability is guaranteed through rigorous analysis without any simplification of the dynamics.In the end,numerical simulations are displayed to illustrate the performance of the proposed cooperative control.
Flexible Structures Vibration control Tension constraints Distributed parameter systems (DPSs)
Wei He Xiuyu He Shuzhi Sam Ge
Robotics Institute and School of Automation Engineering,University of Electronic Science and Technol Robotics Institute and School of Computer Science and Engineering,University of Electronic Science a
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
2705-2710
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）