Abstract
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.
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He, W., Ge, S.S., How, B.V.E., Choo, Y.S. (2014). Installation System with Constraints. In: Dynamics and Control of Mechanical Systems in Offshore Engineering. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-1-4471-5337-5_4
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DOI: https://doi.org/10.1007/978-1-4471-5337-5_4
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