A hybrid partial feedback linearization and deadbeat control scheme for a nonlinear gantry crane     

Mohamed Hamdy  Raafat Shalaby  Mostafa Sallam 《Journal of The Franklin Institute》2018,355(14):6286-6299

This paper presents the design of a hybrid partial feedback linearization and deadbeat control scheme for a nonlinear gantry crane with friction to control its position and sway angle. The partial feedback linearization is used to linearize the nonlinear model and to stabilize its internal dynamics. In many crane applications, it's necessary to accelerate the system response. As a result, this will cause oscillation in the position as well as the sway angle. So, the deadbeat controller is added to get the desirable accelerated response without any oscillation or adverse effects on the internal dynamics stability. By using Lyapunov stability method, the proposed scheme is proved to be globally stable, with converging tracking errors to the desired performance. The simulation results are accomplished to evaluate the effectiveness of the proposed scheme and to demonstrate its reliability to control crane systems with comparative results.  相似文献   

Exploring technology readiness and practices of kindergarten student-teachers in Saudi Arabia: A mixed-methods study     

Alghamdi  Jawaher  Mostafa  Fatma  Abubshait  Aisha 《Education and Information Technologies》2022,27(6):7851-7868

Education and Information Technologies - This study aims to explore kindergarten student teachers’ readiness to integrate technology into their future classrooms and factors affect their...  相似文献