Adaptive Deformation Control of a Flexible Variable-Length Rotary Crane Arm With Asymmetric Input-Output Constraints
针对系统参数不确定和非对称输入输出约束的旋转变长起重机臂，构建了两个自适应控制律以减少变形并实现姿态跟踪，基于偏微分方程模型和S形加减速方法，仿真验证了有效性。
This article constructs two adaptive control laws to achieve deformation reduction and attitude tracking for a rotary variable-length crane arm with system parameter uncertainties and asymmetric input-output constraints. Two auxiliary systems are given to deal with the input constraints, an asymmetric-logarithm-barrier Lyapunov function is established for achieving the asymmetric output constrains, and five adaptive laws are constructed to handle system parameter uncertainties. Besides, the control design is based on a partial differential equation model, and the S-curve acceleration and deceleration method is used for regulating the arm extension speed. Both the system stability and uniform ultimate boundedness of the controlled crane arm are analyzed. Simulation results validate the effectiveness of our established control laws.