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Title: Adaptive control of a flexible crane system with the boundary output constraint
Authors: He, W.
Zhang, S.
Ge, S.S. 
Keywords: Adaptive control
boundary control
distributed parameter system
flexible crane
partial differential equation (PDE)
Issue Date: 1-Aug-2014
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.
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
ISSN: 02780046
DOI: 10.1109/TIE.2013.2288200
Appears in Collections:Staff Publications

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