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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Singhal, R. Patayane, R. Banavar, R.N. |
| Copyright Year | 2006 |
| Description | Author affiliation: IIT-Bombay, Mumbai (Singhal, R.; Patayane, R.; Banavar, R.N.) |
| 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. |
| Starting Page | 1788 |
| Ending Page | 1793 |
| File Size | 432070 |
| Page Count | 6 |
| File Format | |
| ISBN | 1424407257 |
| DOI | 10.1109/ICIT.2006.372495 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-12-15 |
| Publisher Place | India |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Trajectory Cranes Control systems Payloads Nonlinear control systems Mechanical systems PD control Damping Proportional control Robust control underactuated system Gantry crane tracking IDA-PBC Lyapunov method nonlinear control |
| Content Type | Text |
| Resource Type | Article |
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