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• W2786609910 abstract "In this paper we present control of underactuated bridge cranes based on a simplified IDA-PBC (interconnection and damping assignment passivity based control) design. In that framework, without approximately decoupling or linearizing the complicated nonlinear model of bridge cranes, a control law is developed based on continuous-time kinetic and potential shaping by solving a set of PDEs(partial differential equations), also known as general matching conditions. The stability of the closed-loop system is proved by Lyapunov techniques and LaSalle's invariance principle. Some numerical simulation results are also provided to demonstrate the applicability of the proposed control scheme." @default.
• W2786609910 created "2018-02-23" @default.
• W2786609910 creator A5008606533 @default.
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• W2786609910 date "2017-12-01" @default.
• W2786609910 modified "2023-09-26" @default.
• W2786609910 title "Control of underactuated bridge cranes: A simplified IDA-PBC approach" @default.
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• W2786609910 doi "https://doi.org/10.1109/ascc.2017.8287258" @default.
• W2786609910 hasPublicationYear "2017" @default.
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