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Overhead cranes, which are known as typical underactuated systems, are extensively studied in recent years. However, many existing methods for overhead cranes are developed based on a relatively ideal model, with little consideration for persistent external disturbances, unmodeled dynamics, uncertain system parameters and so on. Thus, their performance may badly degrade when it comes to practical...
For the overhead crane control problem, velocity-related terms (corresponding to full-state feedback) are generally required in the designed control systems for damping injection to achieve (asymptotic) stability. However, it is known that velocity signals may be noisy or even unmeasurable. Also, most existing controllers require full or partial plant physical parameters like rope length or load mass...
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