Installation System with Constraints

  • Wei He
  • Shuzhi Sam Ge
  • Bernard Voon Ee How
  • Yoo Sang Choo
Part of the Advances in Industrial Control book series (AIC)


In Chap. 4, the model of the coupled crane-cable-payload with nonuniform parameters is presented. Positioning control is derived for the coupled system with uniform parameters using barrier Lyapunov functions. Through Lyapunov analysis, it is shown that the coupled crane–payload flexible system is stable under the control action, the physical limits from operations planning and safety specifications are not transgressed, and positioning of crane and payload is achieved. A stabilizing boundary control is proposed for the coupled system with nonuniform parameters. Rigorous Lyapunov stability analysis is carried out and the uniform boundedness of the system is shown under the proposed control. Finally, the performance of the proposed control is given through numerical simulations.


Barrier Lyapunov Function Stabilizing Boundary Control Nonuniformity Parameter Proposed Control Cable Lift 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  • Wei He
    • 1
  • Shuzhi Sam Ge
    • 2
  • Bernard Voon Ee How
    • 3
  • Yoo Sang Choo
    • 4
  1. 1.School of Automation EngineeringUniversity of Electronic Science and Technology of China (UESTC)ChengduChina
  2. 2.Dept of Electr. & Computer EngineeringThe National University of SingaporeSingaporeSingapore
  3. 3.Centre for Offshore Research & Engin.National University of SingaporeSingaporeSingapore
  4. 4.Dept of Civil & Environmental Engin.National University of SingaporeSingaporeSingapore

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