Please use this identifier to cite or link to this item:
|Title:||Minimizing Cable Swing in a Gantry Crane Using the Interconnection and Damping Assignment-Passivity Based Control Methodology|
|Publisher:||KRISHTEL EMAGING SOLUTIONS PVT LTD|
|Citation:||ADVANCES IN VIBRATION ENGINEERING, 9(3), 231-244|
|Abstract:||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.|
|Appears in Collections:||Article|
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.