Control of underactuated bridge cranes: A simplified IDA-PBC Approach

被引：0
|
作者：
Li Xue [1 ]
Geng Zhiyong [1 ]
机构：
[1] Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, Beijing 100871, Peoples R China
来源：
2017 11TH ASIAN CONTROL CONFERENCE (ASCC) | 2017年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present control of underactuated bridge cranes based on a simplified IDA-PBC (interconnection and damping assignment passivity based control) design. In that framework, without approximately decoupling or linearizing the complicated nonlinear model of bridge cranes, a control law is developed based on continuous-time kinetic and potential shaping by solving a set of PDEs(partial differential equations), also known as general matching conditions. The stability of the closed-loop system is proved by Lyapunov techniques and LaSalle's invariance principle. Some numerical simulation results are also provided to demonstrate the applicability of the proposed control scheme.
引用
收藏
页码：717 / 722
页数：6
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