Adaptive control design for a nonuniform gantry crane with constrained tension

Author

Wei He ; Xiuyu He ; Shuzhi Sam Ge

Author_Institution

Robot. Inst. & Sch. of Autom. Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China

fYear

2014

fDate

28-30 July 2014

Firstpage

2705

Lastpage

2710

Abstract

In this paper, the control problem is addressed for a hybrid PDE-ODE system that describes a nonuniform gantry crane system with constrained tension. A bottom payload hangs from the top gantry by connecting a flexible cable. The flexible cable is nonuniform due to the spatiotemporally varying tension applied to the system. Cooperative control laws are proposed and the Integral-Barrier Lyapunov Functions are employed for stability analysis of the closed-loop system. Adaption laws are developed for handling parametric uncertainties. The bounded stability is guaranteed through rigorous analysis without any simplification of the dynamics. In the end, numerical simulations are displayed to illustrate the performance of the proposed cooperative control.

Keywords

Lyapunov methods; adaptive control; cables (mechanical); closed loop systems; control system synthesis; cooperative systems; cranes; partial differential equations; stability; adaption laws; adaptive control design; bottom payload; bounded stability analysis; closed-loop system; constrained tension; cooperative control laws; flexible cable; hybrid PDE-ODE system; integral-barrier Lyapunov functions; nonuniform gantry crane system; numerical simulations; parametric uncertainties; spatiotemporally varying tension; Boundary conditions; Cranes; Educational institutions; Lyapunov methods; Payloads; Spatiotemporal phenomena; Vibrations; Distributed parameter systems (DPSs); Flexible Structures; Tension constraints; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6897064

Filename

6897064