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|Title: ||Minimizing Cable Swing in a Gantry Crane Using the Interconnection and Damping Assignment-Passivity Based Control Methodology|
|Authors: ||KAZI, F|
|Keywords: ||mechanical systems|
|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.|
|Appears in Collections:||Article|
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