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Minimizing Cable Swing in a Gantry Crane Using the Interconnection and Damping Assignment-Passivity Based Control Methodology

DSpace at IIT Bombay

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Title Minimizing Cable Swing in a Gantry Crane Using the Interconnection and Damping Assignment-Passivity Based Control Methodology
 
Creator KAZI, F
BANAVAR, R
ORTEGA, R
MANJAREKAR, N
 
Subject mechanical systems
controlled lagrangians
nonlinear-systems
flatness
ida-pbc
underactuated systems
cable-operated robot
 
Description We apply a controller design technique called Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC), that achieves stabilization of a gantry crane with swing minimization. IDA-PBC endows the closed-loop system with a Hamiltonian structure with a desired energy function that qualifies as a Lyapunov function for the desired equilibrium. The success of this method relies on the possibility of solving a set of Partial Differential Equations (PDEs) that identify the energy functions that can be assigned to the closed-loop. We use a partial feedback-linearization inner-loop for explicit solution of these PDEs.
 
Publisher KRISHTEL EMAGING SOLUTIONS PVT LTD
 
Date 2011-08-17T11:45:56Z
2011-12-26T12:55:31Z
2011-12-27T05:40:54Z
2011-08-17T11:45:56Z
2011-12-26T12:55:31Z
2011-12-27T05:40:54Z
2010
 
Type Article
 
Identifier ADVANCES IN VIBRATION ENGINEERING, 9(3), 231-244
0972-5768
http://dspace.library.iitb.ac.in/xmlui/handle/10054/9853
http://hdl.handle.net/10054/9853
 
Language en