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		<identifier>oai:zbc.uz.zgora.pl:86021</identifier>
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<dc:title xml:lang="pl"><![CDATA[A trajectory planning based controller to regulate an uncertain 3D overhead crane system]]></dc:title>
<dc:creator><![CDATA[Aguilar-Ibanez, Carlos]]></dc:creator>
<dc:creator><![CDATA[Suarez-Castanon, Miguel S.]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[overhead crane]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[adaptive control]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[passivity]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[trajectory planning]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[Barbalat`s lemma]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[We introduce a control strategy to solve the regulation control problem, from the perspective of trajectory planning, for an uncertain 3D overhead crane. The proposed solution was developed based on an adaptive control approach that takes advantage of the passivity properties found in this kind of systems.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[We use a trajectory planning approach to preserve the accelerations and velocities inside of realistic ranges, to maintaining the payload movements as close as possible to the origin. To this end, we carefully chose a suitable S-curve based on the Bezier spline, which allows us to efficiently handle the load translation problem, considerably reducing the load oscillations. To perform the convergence analysis, we applied the traditional Lyapunov theory, together with Barbalat`s lemma. We assess the effectiveness of our control strategy with convincing numerical simulations.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Clempner, Julio B. - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Ikonen, Enso - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Kurdyukov, Alexander P. - ed.]]></dc:contributor>
<dc:date><![CDATA[2019]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/86021/AMCS_2019_29_4_6.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/101033/edition/86021/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:86021]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 29, number 4 (2019)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=114]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:101033]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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