New Energy Analytical Results for the Regulation of Underactuated Overhead Cranes: An End-Effector Motion-Based Approach

In this paper, we present a novel end-effector (payload) motion-based control development approach for the regulation of underactuated overhead cranes, which is efficient even in the presence of external disturbance and system parameter variations/uncertainties. The control system is elegantly const...

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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) Vol. 59; no. 12; pp. 4723 - 4734
Main Authors:	Sun, Ning, Fang, Yongchun
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2012 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Construction Control systems Controllers Couplings Cranes End-effector motion analysis Energy storage Friction LaSalle's invariance theorem Law Lyapunov techniques Mechanical energy Motion analysis Nonlinear systems overhead cranes passivity Payloads Studies Swing Trolleys underactuated nonlinear systems
ISSN:	0278-0046, 1557-9948
Online Access:	Get full text
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