Title :
Tracking a Trajectory for a Gantry Crane: Comparison Between IDA-PBC and Direct Lyapunov Approach
Author :
Singhal, Rakesh ; Patayane, Rupesh ; Banavar, Ravi N.
Author_Institution :
IIT-Bombay, Mumbai
Abstract :
This paper presents trajectory tracking for an overhead gantry crane. The system has two degrees-of-freedom and is underactuated. We present two nonlinear control techniques and the objective of the paper is to compare the two techniques for this particular trajectory control problem from various points of view -in particular the control magnitudes and robustness. One of the techniques is the Interconnection and damping assignment-passivity based control (IDA-PBC) notion and the other is a direct Lyapunov approach.
Keywords :
Lyapunov methods; cranes; nonlinear control systems; position control; tracking; IDA-PBC; degrees-of-freedom; direct Lyapunov approach; gantry crane; interconnection and damping assignment-passivity based control; nonlinear control techniques; trajectory control; trajectory tracking; Control systems; Cranes; Damping; Mechanical systems; Nonlinear control systems; PD control; Payloads; Proportional control; Robust control; Trajectory; Gantry crane; IDA-PBC; Lyapunov method; nonlinear control; tracking; underactuated system;
Conference_Titel :
Industrial Technology, 2006. ICIT 2006. IEEE International Conference on
Conference_Location :
Mumbai
Print_ISBN :
1-4244-0726-5
Electronic_ISBN :
1-4244-0726-5
DOI :
10.1109/ICIT.2006.372495
