DocumentCode
1744265
Title
A simple output feedback PD controller for nonlinear cranes
Author
Kiss, B. ; Lévine, J. ; Mullhaupt, Ph
Author_Institution
Centre Autom. et Syst., Ecole Nat. Superieure des Mines de Paris, Fontainebleau, France
Volume
5
fYear
2000
fDate
2000
Firstpage
5097
Abstract
A simple output feedback PD controller is proposed that stabilizes a nonlinear crane. Global asymptotic stability is achieved at any equilibrium point specified by the controller. The control scheme relies solely on the winches position and velocity and hence no cable angle measurement, or no direct measurement of the load position, is needed. The controller can be extended to many different kinds of existing cranes
Keywords
asymptotic stability; cranes; feedback; nonlinear control systems; torque control; two-term control; global asymptotic stability; nonlinear cranes; simple output feedback PD controller; Asymptotic stability; Automatic control; Control systems; Cranes; Nonlinear control systems; Open loop systems; Output feedback; PD control; Position measurement; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location
Sydney, NSW
ISSN
0191-2216
Print_ISBN
0-7803-6638-7
Type
conf
DOI
10.1109/CDC.2001.914758
Filename
914758
Link To Document