Title :
Total energy-shaping IDA-PBC control of the 2D-SpiderCrane
Author :
Sarras, Ioannis ; Kazi, Faruk ; Ortega, Romeo ; Banavar, Ravi
Author_Institution :
Lab. des Signaux et Syst., Univ. Paris-Sud XI, Gif-sur-Yvette, France
Abstract :
The objective of this paper is to further extend the application of the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) technique to the 2D-SpiderCrane mechanism with both kinetic and potential energy being shaped. An earlier effort had focused exclusively on potential energy alone. By shaping the total energy and by adding appropriate damping we achieve almost global asymptotic stability of the desired equilibrium.
Keywords :
asymptotic stability; damping; 2D spider crane; energy shaping IDA PBC control; global asymptotic stability; interconnection and damping assignment passivity based control technique; Cranes; Equations; Kinetic energy; Mathematical model; Mechanical cables; Payloads; Potential energy;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5718000
