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Please use this identifier to cite or link to this item: http://dspace.library.iitb.ac.in/jspui/handle/10054/9853

Title: Minimizing Cable Swing in a Gantry Crane Using the Interconnection and Damping Assignment-Passivity Based Control Methodology
Authors: KAZI, F
BANAVAR, R
ORTEGA, R
MANJAREKAR, N
Keywords: mechanical systems
controlled lagrangians
nonlinear-systems
flatness
Issue Date: 2010
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.
URI: http://dspace.library.iitb.ac.in/xmlui/handle/10054/9853
http://hdl.handle.net/10054/9853
ISSN: 0972-5768
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