• DocumentCode
    695889
  • Title

    Dynamics and control of 2D SpiderCrane: A Lie-Bäcklund approach

  • Author

    Kazi, Faruk ; Muellhaupt, Philippe ; Banavar, Ravi N. ; Bonvin, Dominique

  • Author_Institution
    Syst. & Control Eng., Indian Inst. of Technol. Bombay, Mumbai, India
  • fYear
    2009
  • fDate
    23-26 Aug. 2009
  • Firstpage
    808
  • Lastpage
    813
  • Abstract
    In this paper we present control of a multicable suspended mechanism called the `2D SpiderCrane´. The use of cables, and thus avoiding conventional heavy components, makes such a mechanism suitable for working at high transfer speeds. Using the notion of Lie-Bäcklund transformation, the model is transformed to a new set of coordinates in which the system looks linear. We then solve the closed-loop stabilization and trajectory tracking problem with a simple, but very natural, pole placement strategy.
  • Keywords
    cables (mechanical); closed loop systems; cranes; pole assignment; stability; 2D SpiderCrane control; 2D SpiderCrane dynamics; Lie-Bäcklund transformation; closed-loop stabilization; high transfer speeds; multicable suspended mechanism; pole placement strategy; trajectory tracking problem; Decision support systems; Europe;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2009 European
  • Conference_Location
    Budapest
  • Print_ISBN
    978-3-9524173-9-3
  • Type

    conf

  • Filename
    7074503
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=695889