Nonlinear optimal control for two cable-driven 3-DOF robotic cranes

DOI10.2478/CANDC-2025-0006MaRDI QIDQ6874246zbMATH OpenFDO

Authors G. Rigatos, Farouk Zouari, Masoud Abbaszadeh, Mohammed S. al-Numay, P. Siano

Publication date 15 January 2026

Published in Control and Cybernetics (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://doi.org/10.2478/CANDC-2025-0006

zbMATH Keywords

differential flatness propertiesglobal stabilityJacobian matricesnonlinear H-infinity controlRiccati equationship repairTaylor series expansiontwo cable-driven 3-DOF robotic craneunderactuated crane

Mathematics Subject Classification ID

(H^infty)-control (93B36) Feedback control (93B52) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot
• Analysis and control of underactuated mechanical systems
• Control of a class of underactuated mechanical systems obviating matching conditions
• Detection of abrupt changes: theory and application
• Extended Kalman filtering for fuzzy modelling and multi-sensor fusion
• Fuzzy model validation using the local statistical approach
• Global stabilisation of underactuated mechanical systems via PID passivity-based control
• On the matching equations of kinetic energy shaping in IDA-PBC
• Robotic manipulators and vehicles. Control, estimation and filtering
• Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators
• The time-freezing reformulation for numerical optimal control of complementarity Lagrangian systems with state jumps
• Two globally convergent adaptive speed observers for mechanical systems

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