Title :
Nonlinear stabilizing control law, with a dynamical high gain observer: application to mechanical process
Author :
Chorot, T. ; De Leon Morales, J. De
Author_Institution :
Univ. Claude Bernard, Villeurbanne, France
Abstract :
The authors consider mechanical systems for which a stabilizing control law from the minimization of a Lyapunov function has to be constructed. A stabilizing control law for an overhead crane is proposed. In particular, a high-gain observer is used to estimate the momentum of the mechanical process. Its gain is adaptive and depends on the estimation error
Keywords :
Lyapunov methods; cranes; nonlinear control systems; stability; state estimation; Lyapunov function; dynamical high gain observer; mechanical systems; momentum; nonlinear control systems; overhead crane; stability; stabilizing control; Automatic control; Control systems; Cranes; Equations; Estimation error; Lyapunov method; Mechanical systems; Nonlinear control systems; Nonlinear systems; Potential energy; Stability;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261275
