不确定非线性桥式吊车系统控制器设计

研究了能够同时实现不确定欠驱动吊车系统精确位置跟踪与抗摆动的控制器设计方法.考虑到两自由度桥式吊车系统的负载变化和外界扰动等不确定性,基于Lyapunov函数和模糊逻辑系统设计了一种分段滑模直接自适应模糊控制器.理论分析与仿真结果证明了不确定吊车控制系统是全局渐进稳定的,并具有很好的适应性和鲁棒性.

Design of Controller for an Uncertain Nonlinear Overhead Crane System

Gives an approach for the design of a controller for under-actuated overhead crane systems for simultaneously achieving the objectives of precise displacement tracing and anti-swing.Considering some uncertainties of two degrees of freedom(TDOF)overhead crane systems,such as payload variation and disturbances,a cascade sliding mode direct adaptive fuzzy controller is designed based on Lyapunov function method and fuzzy logical systems(FLS).It was proved by theoretical analysis and simulations that the uncertain crane control systems were global asymptotically stable,and had good adaptability and robustness.