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首页> 外文会议>IASTED international conference on robotics and applications >Modeling and Robust Nonlinear Control of a Two Cable Robotic Crane
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Modeling and Robust Nonlinear Control of a Two Cable Robotic Crane

机译：两缆机器人起重机的建模和鲁棒非线性控制

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This paper discusses the dynamics and control of a crane which utilizes multiple cables for increased stabilty and performance. The equations of motion for the system are derived in terms of cable lengths which are similar to joint space variables. These equations are then used to design a robust nonlinear controller. A feedback linearization technique is first applied to the system. Next a sliding mode controller is designed which allows for trajectory following within a range of parametric uncertainty. Simulation results show that the controller provides high performance even when the mass of the cargo and the stiffness of the cables are only known within ten percent of their nominal values.
机译：本文讨论了利用多根电缆提高稳定性和性能的起重机的动力学和控制。系统的运动方程式是根据电缆长度得出的，该电缆类似于接头空间变量。然后将这些方程式用于设计鲁棒的非线性控制器。首先将反馈线性化技术应用于系统。接下来，设计了一种滑模控制器，该滑模控制器允许在一定的参数不确定性范围内跟踪轨迹。仿真结果表明，即使仅知道货物的质量和电缆的刚度在其标称值的百分之十以内时，该控制器仍可提供高性能。

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