Banavar, Ravi (Indian Inst. of Tech. Bombay), Kazi, Faruk (Indian Inst. of Tech.), Ortega, romeo (supelec), Manjarekar, Narayan (Indian Inst. of Tech. Bombay)

The IDA-PBC Methodology Applied to a Gantry Crane

Scheduled for presentation during the Regular Session "Control Applications" (MoA11), Monday, July 24, 2006, 11:15−11:40, Room 104a

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

Precise payload positioning by an overhead crane is difficult due to the fact that the payload can exhibit a pendulum-like swinging motion. Motivated by the desire to achieve fast and precise payload positioning while minimizing swinging motion, several researchers have developed various controllers for overhead crane systems. In this paper, we apply a controller design technique called interconnection and damping assignment-passivity based control (IDA-PBC), that achieves stabilization for underactuated mechanical systems invoking the physically motivated principles of energy shaping and damping injection. The system of interest in this paper constitutes a special class of nonlinear underactuated mechanical systems with holonomic constraints. The holonomic constraint here restricts the motion of the system to a smooth hypersurface determined by the initial overhang of the cable.