A prevalent approach to control in the gantry crane industry is to track a trajectory using an open-loop strategy based on notions of differential flatness. Point-to-point control is achieved by selecting a suitable t...
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Precise payload positioning by an overhead crane is difficult due to the fact that the payload can exhibit a pendulum-like swinging motion. The stabilization of loads that are carried by cranes is tedious, and the lac...
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The paper presents a novel method to design a spatial control system based on multirate output feedback robust sliding mode control for a large Pressurized Heavy Water Reactor (PHWR). The non-linear model of PHWR incl...
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In γ - δ Routh approximation of interval systems, interval Routh approximant may not be robustly stable even if the original interval system is robustly stable. Thus, in this paper an improvement is proposed to the ...
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In this paper a procedure is given to compute the correct lower and upper bounds of each element in the interval RH array based on simple Moore-Skelboe Algorithm. The RH stability condition of non-interval system beco...
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A prevalent approach to control in the gantry crane industry is to track a trajectory using an open-loop strategy based on notions of differential flatness. Point-to-point control is achieved by selecting a suitable t...
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A prevalent approach to control in the gantry crane industry is to track a trajectory using an open-loop strategy based on notions of differential flatness. Point-to-point control is achieved by selecting a suitable trajectory to be followed. To cope with disturbances and uncertainties, a nominal feedback controller is added to the loop. We have approached the objective of point-to-point transfer with swing suppression along the trajectory by combining notions of flatness and the IDA-PBC technique. The applications like handling liquid filled container demand such kind of quasistatic trajectories. Initially, a flatness based control law is used to follow a desired trajectory that transfers the system to a neighbourhood of the final state. Then the IDA-PBC control law is switched on for robust stabilization of the system.
In γ – δ Routh approximation of interval systems, interval Routh approximant may not be robustly stable even if the original interval system is robustly stable. Thus, in this paper an improvement is proposed to the...
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In γ – δ Routh approximation of interval systems, interval Routh approximant may not be robustly stable even if the original interval system is robustly stable. Thus, in this paper an improvement is proposed to the γ – δ Routh approximation for interval systems using Kharitonov polynomials such that the resulting interval Routh approximant is always robustly stable. A numerical example illustrates the procedure.
In this paper a procedure is given to compute the correct lower and upper bounds of each element in the interval RH array based on simple Moore-Skelboe Algorithm. The RH stability condition of non-interval system beco...
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In this paper a procedure is given to compute the correct lower and upper bounds of each element in the interval RH array based on simple Moore-Skelboe Algorithm. The RH stability condition of non-interval system becomes both the necessary and sufficient for interval systems if the interval RH table is computed accurately.
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 compar...
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ISBN:
(纸本)9781424407255
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.
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