Title :
A simple output feedback PD controller for nonlinear cranes
Author :
Kiss, B. ; Lévine, J. ; Mullhaupt, Ph
Author_Institution :
Centre Autom. et Syst., Ecole Nat. Superieure des Mines de Paris, Fontainebleau, France
Abstract :
A simple output feedback PD controller is proposed that stabilizes a nonlinear crane. Global asymptotic stability is achieved at any equilibrium point specified by the controller. The control scheme relies solely on the winches position and velocity and hence no cable angle measurement, or no direct measurement of the load position, is needed. The controller can be extended to many different kinds of existing cranes
Keywords :
asymptotic stability; cranes; feedback; nonlinear control systems; torque control; two-term control; global asymptotic stability; nonlinear cranes; simple output feedback PD controller; Asymptotic stability; Automatic control; Control systems; Cranes; Nonlinear control systems; Open loop systems; Output feedback; PD control; Position measurement; Velocity measurement;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2001.914758
