DocumentCode :
3175559
Title :
Adaptive control of an overhead crane using dynamic feedback linearization and estimation design
Author :
Boustany, F. ; D´Andréa-Novel, B.
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
fYear :
1992
fDate :
12-14 May 1992
Firstpage :
1963
Abstract :
The authors propose an indirect adaptive scheme for incompletely controlled mechanical systems such as overhead cranes or, more generally, classical rigid manipulators ended by a simple pendulum. In the case of known parameters a dynamic state feedback produces full linearization. An adaptive version is obtained by a simple estimation method together with a certainty equivalence law, taking advantage of the particular structure of the equations. Global stability is discussed, and simulation results for the overhead crane are reported
Keywords :
adaptive control; control system synthesis; cranes; feedback; linearisation techniques; manipulators; stability; adaptive control; dynamic feedback linearization; dynamic state feedback; global stability; overhead crane; rigid manipulators; Adaptive control; Control systems; Cranes; Equations; Feedback; Manipulator dynamics; Mechanical systems; Programmable control; Stability; Weight control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
Type :
conf
DOI :
10.1109/ROBOT.1992.219942
Filename :
219942
Link To Document :
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