Lyapunov-based damping controller with nonlinear MPC control of payload position for a knuckle boom crane.
Geir Ole TysseAndrej CibicikLars TingelstadOlav EgelandPublished in: Autom. (2022)
Keyphrases
- lyapunov function
- closed loop
- open loop
- control strategy
- optimal control
- control law
- control method
- control system
- control scheme
- feedback controller
- tracking control
- control theory
- control strategies
- linear quadratic
- adaptive control
- nonlinear systems
- feedback control
- variable structure
- class of nonlinear systems
- neural network controller
- model predictive control
- tracking error
- external disturbances
- fuzzy control
- adaptive neural
- dynamic model
- adaptive controller
- mpc algorithm
- sufficient conditions
- robust stability
- stability analysis
- operating conditions
- fractional order
- predictive control
- controller design
- exponential stability
- fuzzy controller
- nonlinear dynamics
- dynamical systems
- guaranteed cost
- neural network
- pi controller
- pid controller
- control architecture
- asymptotic stability
- control algorithm
- disturbance rejection
- position control
- visual servoing
- end effector
- inverted pendulum
- linear matrix inequality
- adaptive fuzzy
- robotic manipulator
- fuzzy pid
- robot manipulators
- nonlinear functions
- mathematical model
- impedance control
- real time
- single input single output
- learning rate
- continuous stirred tank reactor