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The regulation controller is designed for the underactuated crane system in 2-dimensional (2D) space by using a differential-flatness-based approach. The elegantly designed controller can simultaneously suppress the payload swing and regulate the trolley to the desired destination for the 2D bridge crane system in the case of constant cable length. Considering cable length variation, the flatness-based...
This paper is concerned with the integrated adaptive terminal sliding mode tracking control problem for uncertain nonholonomic control systems with rheonomous affine kinematic constraints(RAKC) in the presence of perturbations. Based on the D'Alembert-Lagrange principle and rheonomous affine kinematic constraints equation, the dynamical model of the uncertain nonholonomic control systems with RAKC...
A design scheme of the finite-time tracking controller is given for a general class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface systems, etc. By introducing a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into a linear time-varying control systems. The...
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