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|Title:||Adaptive control of a flexible crane system with the boundary output constraint|
distributed parameter system
partial differential equation (PDE)
|Citation:||He, W., Zhang, S., Ge, S.S. (2014-08-01). Adaptive control of a flexible crane system with the boundary output constraint. IEEE Transactions on Industrial Electronics 61 (8) : 4126-4133. ScholarBank@NUS Repository. https://doi.org/10.1109/TIE.2013.2288200|
|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. © 2013 IEEE.|
|Source Title:||IEEE Transactions on Industrial Electronics|
|Appears in Collections:||Staff Publications|
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