期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 61, 期 8, 页码 4126-4133出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2013.2288200
关键词
Adaptive control; boundary control; distributed parameter system; flexible crane; partial differential equation (PDE)
资金
- National Natural Science Foundation of China [61203057]
- Fundamental Research Funds for the China Central Universities of the University of Electronic Science and Technology of China [ZYGX2012J087]
- National Basic Research Program of China (973 Program) [2014CB744206]
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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