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Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance

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Bibliographic Details
Main Authors: Zheshuo, Zhang, Bangji, Zhang, Hui, Yin
Format: Book
Language:English
Published: Springer 2023
Subjects:
DDCP
Articulating crane
Online Access:https://link.springer.com/article/10.1007/s11071-023-08452-4
https://dlib.phenikaa-uni.edu.vn/handle/PNK/8033
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spelling oai:localhost:PNK-80332023-04-18T04:36:32Z Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance Zheshuo, Zhang Bangji, Zhang Hui, Yin DDCP Articulating crane CC By Articulating crane (AC), a widely used crane, plays an essential role in various industrial activities. Owing to its strong nonlinearity and uncertainty, its tracking control remains challenging, particularly for precise dynamic tracking control. This paper proposes an adaptive diffeomorphism-constraint-based control (ADCBC) for a nonlinear AC to robustly achieve trajectory tracking while guaranteeing desired dynamic control performance (DDCP), considering (possibly rapid and irregular) time-variant uncertainty with unknown bounds. A user-definable hard-limiting function was used to guarantee the DDCP, including the requirement for steady-state tracking error and dynamic convergence speed. The desired trajectories and DDCP were formulated as equality and inequality servo constraints, respectively. 2023-04-18T04:36:32Z 2023-04-18T04:36:32Z 2023 Book https://link.springer.com/article/10.1007/s11071-023-08452-4 https://dlib.phenikaa-uni.edu.vn/handle/PNK/8033 en application/pdf Springer
institution Digital Phenikaa
collection Digital Phenikaa
language English
topic DDCP
Articulating crane
spellingShingle DDCP
Articulating crane
Zheshuo, Zhang
Bangji, Zhang
Hui, Yin
Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
description CC By
format Book
author Zheshuo, Zhang
Bangji, Zhang
Hui, Yin
author_facet Zheshuo, Zhang
Bangji, Zhang
Hui, Yin
author_sort Zheshuo, Zhang
title Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
title_short Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
title_full Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
title_fullStr Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
title_full_unstemmed Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
title_sort constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
publisher Springer
publishDate 2023
url https://link.springer.com/article/10.1007/s11071-023-08452-4
https://dlib.phenikaa-uni.edu.vn/handle/PNK/8033
_version_ 1763543257148555264
score 8.891145

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