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Moving the suspended load along a predefined trajectory as fast as possible is not an easy controlling task due to the residual swing at the end of travelling. In this paper, the overhead crane is fully automated with the high speed trajectory. Robust scheme, namely anti-sway sliding-mode with trolley disturbance observer (DOB), are implemented with overhead crane systems. The anti-sway sliding-mode...
This paper addresses the stability and performance of adaptive control in robotic manipulators, which represents an important and unique class of nonlinear, time-varying, multi-input multi-output dynamic systems. An adaptive control was developed to attenuate the effect of the unknown parameter. This paper, after summarizing the mechanical design and dynamic equation, shows that the dynamic parameters...
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