Constraint-based adaptive robust tracking control of uncertain articulating crane guaranteeing desired dynamic control performance
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| Định dạng: | Sách |
| Ngôn ngữ: | English |
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Springer
2023
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| Truy cập trực tuyến: | https://link.springer.com/article/10.1007/s11071-023-08452-4 https://dlib.phenikaa-uni.edu.vn/handle/PNK/8033 |
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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 |
8.881002 |