Title :
Control of convey-crane based on passivity
Author :
Collado, Joaquín ; Lozano, Rogelio ; Fantoni, Isabelle
Author_Institution :
Fac. de Ingenieria Mecanica y Electrica, Univ. Autonoma de Nuevo Leon, San Nicolas, NL, Mexico
Abstract :
Based on the results of control of the inverted pendulum on a cart, we propose a control law of a convey-crane which transports a load suspended on a cart from a given point to another, minimizing its oscillations. The control law derived is based on the passivity property of the system. Some simulations are presented
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; convergence; cranes; damping; invariance; motion control; nonlinear control systems; state feedback; cart; convey-crane; inverted pendulum; oscillations; passivity; Control nonlinearities; Control systems; Cranes; Equations; Lagrangian functions; Nonlinear control systems; Nonlinear dynamical systems; Potential energy; Symmetric matrices; Weight control;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.876702
