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Vibration control for nonlinear overhead crane bridge subject to actuator failures and output constraints

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Abstract

An active robust adaptive fault-tolerant control protocol is studied for reducing vibration of crane bridge system and handling actuator faults and output constraints simultaneously based on a partial differential equation model. The closed-loop system subject to environmental perturbations and actuator failures can be stabilized with proposed control laws. Furthermore, output constraints of trolley can always be ensured via employing barrier Lyapunov function (BLF), and uncertain actuator faults can also be compensated availably using developed adaptive control laws without any knowledge of actuator fault information. Finally, numerical simulation is provided for illustrating performance of the proposed control method.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant No.61873296) and CAS Prospective Deployment Project under grant No. ZDRW-KT- 2019-1-010402.

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Authors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

    Xueyan Xing & Jinkun Liu

  2. The State Key Laboratory for Management and Control of Complex Systems, Institute of Automation Chinese Academy of Sciences, Beijing, China

    Hongjun Yang

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  1. Xueyan Xing
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  2. Hongjun Yang
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  3. Jinkun Liu
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Correspondence to Jinkun Liu.

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Xing, X., Yang, H. & Liu, J. Vibration control for nonlinear overhead crane bridge subject to actuator failures and output constraints. Nonlinear Dyn 101, 419–438 (2020). https://doi.org/10.1007/s11071-020-05778-1

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