Asymmetric Input–Output Constraint Control of a Flexible Variable-Length Rotary Crane Arm
针对受外部干扰和非对称输入输出约束的柔性变长旋转起重机臂，设计了两种边界控制器实现角度跟踪和变形抑制，并利用S形加减速方案调节臂的伸长率。
This article demonstrates the realization of angle tracking and deformation suppression by developing two boundary controllers for a flexible variable-length rotary crane arm with extraneous disturbances and asymmetric input-output constraints. The dynamic model description of this kind of crane arm system is several partial differential equations integrated into few ordinary differential equations. The S-curve acceleration and deceleration scheme is utilized to adjust the elongation rate of the arm. A kind of novel observer is put forward to tackle unknown extraneous disturbances. Auxiliary systems and barrier Lyapunov functions are introduced to meet the asymmetric input-output constraints. With the help of Lyapunov's theory, the global exponential stability and uniform boundedness are analyzed. The numerical simulations are finally provided to illuminate its availability of the designed control schemes.