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Control of a parametrically excited crane: a Vector Lyapunov approach
Department of Control Engineering and Robotics, Engineering Faculty, UNAM, México City, México.
2013 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 21, no 6, p. 2332-2340Article in journal (Refereed) Published
Abstract [en]

In this brief, a controller is proposed in order to avoid the parametric resonance effect and to attenuate the load oscillations in a parametrically excited crane, ensuring precise load transfer during the load movement despite model uncertainties and un-modeled dynamic actuators. The nonlinear controller proposed in this brief is motivated by the Twisting algorithm and the design uses the vector Lyapunov function approach ensuring the ultimate bounded stability of the overall closed-loop system. The experiments conducted over a laboratory platform resemble quite well the simulations, confirming the obtained results.

Place, publisher, year, edition, pages
Piscataway: Institute of Electrical and Electronics Engineers (IEEE), 2013. Vol. 21, no 6, p. 2332-2340
Keywords [en]
Parametric resonance, ship onboard crane, twisting algorithm, under-actuated systems, vector Lyapunov functions
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-112482DOI: 10.1109/TCST.2012.2233739ISI: 000326105800028OAI: oai:DiVA.org:umu-112482DiVA, id: diva2:878373
Available from: 2015-12-08 Created: 2015-12-08 Last updated: 2018-08-28Bibliographically approved

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Vazquez, Carlos

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