Nonlinear information fusion control for underactuated cranes with input saturation

作者：Hu Zhou; Wang Zhi Sheng^*; Zhen Zi Yang

来源：Acta Automatica Sinica, 2014, 40(7): 1522-1527.

DOI：10.3724/SP.J.1004.2014.01522

• Crane systems
• Information fusion technology
• Input saturation
• Nonlinear information
• Optimal estimations
• Quadratic performance indices
• Reference trajectories
• Saturation problems

For the control problem of an under-actuated crane system, a control method based on information fusion technology is presented. By fusing the soft constraints information of the future reference trajectory and the control energy in the quadratic performance index function, and the hard constraints information supplied by the crane system state equation and the output equation, the optimal estimations of the co-state sequence and the control variable are obtained. For the saturation problem of control input value, a kind of adaptive adjustment algorithm of the control energy soft constraint information is presented. The control value calculated by this algorithm satisfies the requirements of limitation. The information fusion control method is easy to be designed based on the discrete model of the controlled system. The simulation results indicate the effectiveness of this method.

• 出版日期2014
• 单位南京航空航天大学