Research Article
Reinforcement Learning-Based Backstepping Control for Container Cranes
Table 1
Parameters of the crane and the controller.
| | Parameter | Value |
| Container crane | m1 (kg) | 4.5 | m2 (kg) | 1 | l (m) | 0.7 | Controller | β1 | 1 | [ψmax, ψmin] | [0, 4e−2] | [Г1,min, Г1,max] | [−1.5e−3, 1.5e−3] | [Г2,min, Г2,max] | [−2e−2, 2e−2] | η | 0.1 | λ | 0.5 |
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