Finite-time stabilization of an overhead crane with a flexible cable submitted to an affine tension

DOI10.1051/COCV/2021090zbMATH Open1478.93608arXiv2102.07648OpenAlexW3199748659MaRDI QIDQ5016149FDOQ5016149

Authors: Marc Wijnand, Lionel Rosier, B. d'Andréa-Novel 

Publication date: 13 December 2021

Published in: ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Abstract: The paper is concerned with the finite-time stabilization of a hybrid PDE-ODE system describing the motion of an overhead crane with a flexible cable. The dynamics of the flexible cable is described by the wave equation with a variable coefficient which is an affine function of the curvilinear abscissa along the cable. Using several changes of variables, a backstepping transformation, and a finite-time stable second-order ODE for the dynamics of a conveniently chosen variable, we prove that a global finite-time stabilization occurs for the full system constituted of the platform and the cable. The kernel equations and the finite-time stable ODE are numerically solved in order to compute the nonlinear feedback law, and numerical simulations validating our finite-time stabilization approach are presented.

Full work available at URL: https://arxiv.org/abs/2102.07648

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zbMATH Keywords

finite-time stabilitywave equationcascade systemstransparent boundary conditionsPDE-ODE systemVolterra integral transformationnonlinear feedback law

Mathematics Subject Classification ID

Feedback control (93B52) Control/observation systems governed by ordinary differential equations (93C15) Control/observation systems governed by partial differential equations (93C20) Finite-time stability (93D40)

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Cited In (7)

• Robust adaptive vibration control of a gantry crane system with flexible cable
• Boundary stabilization of hyperbolic systems related to overhead cranes
• Stabilization of a flexible cable with two rigid loads
• Stabilization of an overhead crane with a variable length flexible cable
• Boundary stabilization of an overhead crane with beam model
• Finite-time stabilization of an overhead crane with a flexible cable
• Title not available (Why is that?)

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