Nonlinear coupling control laws for an underactuated overhead crane system
نویسندگان
چکیده
منابع مشابه
Nonlinear Coupling Control Laws for an Underactuated Overhead Crane System
In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivitybased controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle’s invariant set theorem, we first illustrate how a simple proportional–derivativ...
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ژورنال
عنوان ژورنال: IEEE/ASME Transactions on Mechatronics
سال: 2003
ISSN: 1083-4435
DOI: 10.1109/tmech.2003.816822