• DocumentCode
    2572814
  • Title

    Dynamics and control of 2D SpiderCrane: A controlled Lagrangian approach

  • Author

    Kamath, Atul K. ; Singh, Navdeep M. ; Kazi, Faruk ; Pasumarthy, R.

  • Author_Institution
    Coll. of Eng., Math. & Phys. Sci., Univ. of Exeter, Exeter, UK
  • fYear
    2010
  • fDate
    15-17 Dec. 2010
  • Firstpage
    3596
  • Lastpage
    3601
  • Abstract
    In this paper we present control of a multicable suspended mechanism called the `2D SpiderCrane´ based on controlled Lagrangian approach. SpiderCrane does not have any conventional heavy mobile components by virtue of which high transfer speeds are achievable. Using the method of controlled Lagrangian a control law is developed based on continuous-time kinetic and potential energy shaping. Simulations are carried out in MATLAB.
  • Keywords
    cables (mechanical); continuous time systems; cranes; suspensions (mechanical components); 2D SpiderCrane; MATLAB; continuous-time kinetic energy shaping; continuous-time potential energy shaping; control law; controlled Lagrangian approach; multicable suspended mechanism; Cranes; Equations; Kinetic energy; Measurement; Mechanical cables; Potential energy; Shape;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control (CDC), 2010 49th IEEE Conference on
  • Conference_Location
    Atlanta, GA
  • ISSN
    0743-1546
  • Print_ISBN
    978-1-4244-7745-6
  • Type

    conf

  • DOI
    10.1109/CDC.2010.5717436
  • Filename
    5717436
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2572814