Journal
SYMMETRY-BASEL
Volume 10, Issue 9, Pages -Publisher
MDPI
DOI: 10.3390/sym10090412
Keywords
spatial distributed tensions; multiple constraints; adaptive boundary control; boundary disturbance observer
Categories
Funding
- National Key Research and Development Program [2016YFC0600901]
- National Natural Science Foundation of China [51475456]
- Priority Academic Program Development (PAPD) of Jiangsu Higher Education Institutions
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The modeling and control of the multi-rope parallel suspension lifting system (MPSLS) are investigated in the presence of different and spatial distributed tensions; unknown boundary disturbances; and multiple constraints, including time varying geometric constraint, input saturation, and output constraint. To describe the system dynamics more accurately, the MPSLS is modelled by a set of partial differential equations and ordinary differential equations (PDEs-ODEs) with multiple constraints, which is a nonhomogeneous and coupled PDEs-ODEs, and makes its control more difficult. Adaptive boundary control is a recommended method for position regulation and vibration degradation of the MPSLS, where adaptation laws and a boundary disturbance observer are formulated to handle system uncertainties. The system stability is rigorously proved by using Lyapunov's direct method, and the position and vibration eventually diminish to a bounded neighborhood of origin. The original PDEs-ODEs are solved by finite difference method, and the multiple constraints problem is processed simultaneously. Finally, the performance of the proposed control is demonstrated by both the results of ADAMS simulation and numerical calculation.
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