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

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Tác giả chính:	Zheshuo, Zhang, Bangji, Zhang, Hui, Yin
Định dạng:	Sách
Ngôn ngữ:	English
Thông tin xuất bản:	Springer 2023
Chủ đề:	DDCP Articulating crane
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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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	Trường Đại học Phenikaa
collection	DSpace
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
work_keys_str_mv	AT zheshuozhang constraintbasedadaptiverobusttrackingcontrolofuncertainarticulatingcraneguaranteeingdesireddynamiccontrolperformance AT bangjizhang constraintbasedadaptiverobusttrackingcontrolofuncertainarticulatingcraneguaranteeingdesireddynamiccontrolperformance AT huiyin constraintbasedadaptiverobusttrackingcontrolofuncertainarticulatingcraneguaranteeingdesireddynamiccontrolperformance
_version_	1787741129396977664

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

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