Abstract
Aerial work platform is a special vehicle for carrying personnel to the appointed site in the air for operations. Therefore, the work platform requires high stability. This article proposes a slidi...
Highlights
The folding-boom aerial work platform is a type of engineering vehicle which is used for enhancing the personnel to the designated place for installation and maintenance, as shown in Figure 1.1 it requires high stability for the security of people working on the platform
For realizing trajectory tracking of aerial work platform, adaptive neural network controller is adopted in Jia et al.[2] and self-tuning fuzzy proportional– integral–derivative (PID) control scheme is proposed in Miao et al.[3]
Based on the theory of flexible multi-body dynamics and Lagrange’s equation, the model of folding-boom aerial work platform with flexible beam driven by hydraulic cylinder is established, and the vibration existed in flexible beam is shown in Hu et al.[1]
Summary
The folding-boom aerial work platform is a type of engineering vehicle which is used for enhancing the personnel to the designated place for installation and maintenance, as shown in Figure 1.1 it requires high stability for the security of people working on the platform. Based on the theory of flexible multi-body dynamics and Lagrange’s equation, the model of folding-boom aerial work platform with flexible beam driven by hydraulic cylinder is established, and the vibration existed in flexible beam is shown in Hu et al.[1] Besides, the similar model is obtained, and fuzzy PID is used for the trajectory tracking of work platform in Meng,[4] but this study only gives simulation results, and the stability of system is not proved. A neural network–based sliding mode control (NNSMC) for tracking control of aerial work platform with flexible beam driven by hydraulic cylinder is presented. The simulation results show that the aerial work platform’s tracking error can be reduced, and the vibration can be inhibited effectively when there exist model parameter uncertainties. The matrix D(z) is symmetric positive definite and satisfies 0\dm kD(z)k dM , 8z 2 Rn, R=
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