Nonlinear Adaptive Control for 3-D Ship-mounted Cranes with Double-pendulum Effect Without Velocity Feedback
作者单位：Center for RoboticsSchool of Control Science and EngineeringEngineering Research Center of Intelligent Unmanned SystemMinistry of EducationShandong University
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：08[工学] 082402[工学-轮机工程] 0835[工学-软件工程] 0824[工学-船舶与海洋工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
关 键 词：Adaptive Control Ship-mounted Cranes Wave Disturbances
摘 要：Unmeasurable velocities and noise amplification by numerical differentiators are difficult problems for crane *** this paper,an adaptive controller,without velocity feedback,is proposed for 3-D ship-mounted cranes to achieve swing suppression and accurate boom positioning. Auxiliary variables are designed to substitute for velocities that cannot be obtained directly. Additionally,bounded functions are utilized to constrain the input torque for safety. The stability of the control system is rigorously proven using Lyapunov s method. Furthermore,simulations validate the effectiveness of the proposed method.