Adaptive Deformation Control of a Flexible Variable-Length Rotary Crane Arm With Asymmetric Input-Output Constraints
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 asymmetr...
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| Published in | IEEE transactions on cybernetics Vol. 52; no. 12; pp. 13752 - 13761 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Piscataway
IEEE
01.12.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| Online Access | Get full text |
| ISSN | 2168-2267 2168-2275 2168-2275 |
| DOI | 10.1109/TCYB.2021.3112706 |
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| Abstract | 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. |
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| AbstractList | 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.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. 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. |
| Author | Wang, Huan Mei, Yanfang Liu, Yu Cai, He |
| Author_xml | – sequence: 1 givenname: Yanfang orcidid: 0000-0003-4990-6498 surname: Mei fullname: Mei, Yanfang organization: School of Automation Science and Engineering, South China University of Technology, Guangzhou, China – sequence: 2 givenname: Yu orcidid: 0000-0002-4191-5974 surname: Liu fullname: Liu, Yu email: auylau@scut.edu.cn organization: School of Automation Science and Engineering, South China University of Technology, Guangzhou, China – sequence: 3 givenname: Huan surname: Wang fullname: Wang, Huan organization: Industrial Technology Research Center, Guangdong Institute of Scientific and Technical Information, Guangzhou, China – sequence: 4 givenname: He orcidid: 0000-0002-0411-1774 surname: Cai fullname: Cai, He organization: School of Automation Science and Engineering, South China University of Technology, Guangzhou, China |
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| SubjectTerms | 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 |
| Title | Adaptive Deformation Control of a Flexible Variable-Length Rotary Crane Arm With Asymmetric Input-Output Constraints |
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