A backstepping controller design for underactuated crane system

This paper is concerned with a nonlinear anti-swing control problem for an underactuated bridge crane system employing a backstepping control strategy. As preliminaries, the nonlinear model of the crane is established according to the actual structure. Then, using the inequality of the mathematical expectation of a Lyapunov function, the stability criteria and the existence theorem of the backstepping controller are presented such that the closed-loop system is asymptotically stable. Finally, simulation results are presented to verify the feasibility and effectiveness of the proposed method.

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