Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles
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- 作者：Menghua Zhang ; Xin Ma ; maxin@sdu.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Xuewen Rong ; Xincheng Tian ; Yibin Li
- 关键词：Overhead crane ; Underactuated system ; Error trajectory ; LaSalle's invariance theorem ; Lyapunov techniques ; Initial payload swing angle
- 刊名：Mechanical Systems and Signal Processing
- 出版年：2017
- 出版时间：1 February 2017
- 年：2017
- 卷：84
- 期：part_PA
- 页码：268-285
- 全文大小：1250 K
文摘
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It is the first theoretical method that allows arbitrary initial payload swings.
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The method shows good robustness against parameter variations and disturbances.
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The same desired error trajectory can be used for different traveling distances.