Journal
AUTOMATION IN CONSTRUCTION
Volume 126, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2021.103668
Keywords
Underactuated system; Rotary crane; Double-pendulum effect; Nonlinear adaptive control; Motion control
Funding
- National Natural Science Foundation of China [61703202]
- Jiangsu Provincial Key Research and Development Program [BE2017164]
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The research demonstrates that the designed adaptive nonlinear control method exhibits excellent control performance and robustness in dealing with model uncertainty and external disturbances, with both theoretical value and practical engineering significance.
Achieving both boom positioning and swing reduction becomes more difficult when rotary cranes display double-pendulum characteristic in dynamics. Moreover, in actual application, the model uncertainties and external disturbances always affect the control performance. To solve these problems, an adaptive nonlinear control method is designed. Through a large number of strict simulation verification of the above control methods, the following results can be obtained: Aiming at the research problems of model uncertainty and the existence of external disturbances, it reflects excellent control performance and strong robustness. Furthermore, the above results show that the proposed control method not only has important theoretical value, but also has practical engineering significance. Finally, the paper conducts follow-up research from the following directions: On the one hand, Lyapunov technology is used to design the controller; on the other hand, LaSalle's invariance theorem is used to analyze the stability of the closed-loop system.
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