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Compared with fully actuated systems, underactuated systems present such advantages as simpler structure, broader applications, and so on. Yet, the control of this kind of system proves to be a very challenging problem since the number of control inputs is less than that of the degrees of freedom, which thus attracts much attention from the control community during the past two decades. This paper...
In the present paper, we suggest a novel robust control strategy for the control problem of double pendulum crane systems. More precisely, we first derive a reduced crane model that can well depict the original double pendulum dynamics. After that, a super-twisting-based nonlinear control law is presented, which can make the crane follow preset trajectories and eliminate the double pendulum swing...
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