Dynamical behavior analysis and control of time-varying lifting system based on fuzzy adaptive back-stepping controller
In this article, considering uncertainty and nonlinearity factors, the resonance phenomenon of conveyance is studied and a fuzzy adaptive back-stepping controller is proposed for rope lifting system with time-varying length and distributed parameters. Firstly, the dynamic model is constructed and de...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806241292217 |
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| Summary: | In this article, considering uncertainty and nonlinearity factors, the resonance phenomenon of conveyance is studied and a fuzzy adaptive back-stepping controller is proposed for rope lifting system with time-varying length and distributed parameters. Firstly, the dynamic model is constructed and derived by continuum mechanics, and the dynamical behavior is obtained by time-frequency analysis method. Secondly, the fuzzy adaptive back-stepping control method is proposed to suppress nonstationary vibration. Thirdly, based on Lyapunov function, the asymptotic stability of the system under the proposed control algorithm is verified. Finally, compared with proportion–integration–differentiation (PID) back-stepping controller, the efficiency of the proposed controller is proven by applying excitation with different frequency and uncertain parameters, and the adaptability and robustness are illustrated to validate under mixed frequency disturbance by simulation compared with PID back-stepping controller. Based on the dynamical behavior analysis and control method proposed in this article, the robustness of vibration controller of time-varying lifting system under uncertain nonlinear time-varying disturbance will be greatly improved. |
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| ISSN: | 1729-8814 |