Tracking control design for a multi-degree underactuated flexible-cable overhead crane system with large swing angle based on singular perturbation method and an energy-shaping technique
Abstract
A flexible-cable overhead crane system having large swing is studied as a multi-degree underactuated system. To resolve the system dynamics complexities, a second order singular perturbation (SP) formulation is developed to divide the crane dynamics into two one-degree underactuated fast and slow subsystems. Then, a control system is designed based on the two-time scale control (TTSC) method to: (a) transfer the payload to a desired location and...
Paper Details
Title
Tracking control design for a multi-degree underactuated flexible-cable overhead crane system with large swing angle based on singular perturbation method and an energy-shaping technique
Published Date
Mar 6, 2019
Volume
25
Issue
11
Pages
1752 - 1767
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