期刊
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
卷 356, 期 18, 页码 11305-11317出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2019.08.009
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资金
- National Natural Science Foundation of China [61703061]
- Basic Science and Frontier Technology Research Projects of Chongqing Science and Technology Program (General Projects) [cstc2018jcyjAX0498]
- Basic research funds for Central Universities [2019CD195CGZDH208, 2019CDQYZDH007, 2019CDYGZD010]
- Chongqing Key Lab on IFBDA, School of Mathematical Sciences, Chongqing Normal University [CSSXKFKTZ201802]
In this paper we consider the adaptive control of underactuated crane systems with unknown system parameters. A novel non-recursive control scheme is proposed for the underactuated crane systems with a time-varying control gain. The parameter estimators design for the unknown parameters is also avoided. It is shown that the stabilization errors of the underactuated crane systems converge to origin asymptotically. Finally simulation results are carried out to verify the effectiveness of the proposed schemes. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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