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

fYear

2006

fDate

15-17 Dec. 2006

Firstpage

1788

Lastpage

1793

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICIT.2006.372495

Filename

4237817