Adaptive Deformation Control of a Flexible Variable-Length Rotary Crane Arm With Asymmetric Input-Output Constraints

• Published in: IEEE transactions on cybernetics Vol. 52; no. 12; pp. 13752 - 13761
• Main Authors: Mei, Yanfang, Liu, Yu, Wang, Huan, Cai, He
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.12.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Adaptation models; Adaptive boundary control; Adaptive control; Adaptive systems; asymmetric input–output constraints; Asymmetry; Control theory; Cranes; Deceleration; Deformation; deformation reduction; Liapunov functions; Mathematical models; Parameter uncertainty; Partial differential equations; S curves; Stability analysis; Strain; Systems stability; Uncertainty; variable-length crane arm; Vibrations
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2021.3112706

This article constructs two adaptive control laws to achieve deformation reduction and attitude tracking for a rotary variable-length crane arm with system parameter uncertainties and asymmetric input-output constraints. Two auxiliary systems are given to deal with the input constraints, an asymmetric-logarithm-barrier Lyapunov function is established for achieving the asymmetric output constrains, and five adaptive laws are constructed to handle system parameter uncertainties. Besides, the control design is based on a partial differential equation model, and the S-curve acceleration and deceleration method is used for regulating the arm extension speed. Both the system stability and uniform ultimate boundedness of the controlled crane arm are analyzed. Simulation results validate the effectiveness of our established control laws.