Adaptive Control Design for Uncertain Underactuated Cranes With Nonsmooth Input Nonlinearities
针对参数未知且输入非光滑的欠驱动起重机，提出一种基于滤波器的自适应控制方法，使摆角和位置误差收敛到原点附近任意小邻域，仿真验证了有效性。
This article investigates the control of underactuated crane systems with unknown system parameters and nonsmooth input nonlinearities. To solve this problem, a novel filter-based adaptive control method is designed for the underactuated crane systems. First, since the backstepping control scheme cannot be directly applied to the crane systems, a group of filters is designed such that the crane systems become a class of strict-feedback nonlinear systems in each step of backstepping. Then, in order to ensure that the swing angle and position error converge to the origin, the variable transformation method is adopted. The result demonstrates that the tracking errors of the underactuated crane systems could be guaranteed to converge to a ball of origin with an arbitrarily small radius. Finally, the simulation results show that the proposed scheme is effective.