柔性缆索龙门起重机状态反馈非线性H∞边界控制

2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI:10.1109/comrob53312.2021.9628529

L. Aguilar

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引用次数: 0

摘要

求解了龙门起重机柔性索稳定的状态反馈非线性${\mathcal{H}_\infty }$边界控制问题。电缆不假定为刚性;因此，我们将索的动力学表示为双曲型偏微分方程。通过严格Lyapunov泛函证明了非摄动闭环系统的渐近稳定性。此外，我们还通过增益分析证明了干扰衰减的程度。通过实验室龙门起重机动力学模型的数值模拟验证了理论结果。

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State-Feedback Nonlinear H∞ Boundary Control for a Gantry Crane with Flexible Cable

We have solved the state-feedback nonlinear ${\mathcal{H}_\infty }$ boundary control to stabilize a flexible cable of a gantry crane. The cable is not assumed rigid; therefore, we represented the cable dynamics as a hyperbolic partial differential equation. We proved the asymptotical stability of the unperturbed closed-loop system through a strict Lyapunov functional. Moreover, we demonstrated the disturbance attenuation level through the ℒ2-gain analysis. We corroborate the theoretical results by numerical simulations developed in a dynamic model of a laboratory gantry crane.

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2021 XXIII Robotics Mexican Congress (ComRob)

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