Control of convey-crane based on passivity

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jan 2000Publisher:IEEEJournal:Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)

Authors: Joaquin Collado; Rogelio Lozano; Isabelle Fantoni;

doi: 10.1109/acc.2000.876702

Control of convey-crane based on passivity

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Abstract

Based on the results of control of the inverted pendulum on a cart, we propose a control law of a convey-crane which transports a load suspended on a cart from a given point to another, minimizing its oscillations. The control law derived is based on the passivity property of the system. Some simulations are presented.

Related Organizations

University of Technology of Compiègne
France
Universidad Autónoma de Nuevo León
Mexico

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