Anti-swing control of underactuated overhead crane system using multiple Lyapunov functions

For a class of underactuated systems, a switching Lyapunov functions based nonlinear controller is given. Underactuated configuration space is split in to two subsets. Two simplified controllers with local guaranteed performances are derived. A direct controller is designed on actuated configuration space while another feedback controller is utilized indirectly to act on the unactuated configuration space. A switching algorithm between those...