• DocumentCode
    2581676
  • 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
  • fYear
    2010
  • fDate
    15-17 Dec. 2010
  • Firstpage
    1122
  • Lastpage
    1127
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control (CDC), 2010 49th IEEE Conference on
  • Conference_Location
    Atlanta, GA
  • ISSN
    0743-1546
  • Print_ISBN
    978-1-4244-7745-6
  • Type

    conf

  • DOI
    10.1109/CDC.2010.5718000
  • Filename
    5718000
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2581676