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
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;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717436
