Stabilization of Variable Rope Length Pendulum Using Lyapunov's Theory and Differential Geometry

Lukáš Bláha

doi:10.4028/www.scientific.net/AMM.152-154.618

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 152-154Stabilization of Variable Rope Length Pendulum...

Stabilization of Variable Rope Length Pendulum Using Lyapunov's Theory and Differential Geometry

Abstract:

In this paper, we investigate the motion of variable rope length pendulum as basic part of a portal crane. Our starting point is a discussing the behavior of that system for variable range of condition. We show the basic control strategy that damps the oscillation of hanging pendulum. This control law is developed using Lyapunov's method and recently analyzed by [2]. Further, the control strategy is improved in the sense of faster damping resulted from differential geometry.

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Periodical:

Applied Mechanics and Materials (Volumes 152-154)

Pages:

618-623

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.152-154.618

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Online since:

January 2012

Authors:

Lukáš Bláha

Keywords:

Lyapunov's Method, Stabilization, Variable Length Pendulum, Velocity Field

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References

[1] J.J.E. Slotine and W. Li: Applied Nonlinear Control, Englewood Cliffs, New Jersey: Prentice- Hall, (1991).

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[2] K. Yoshida, K. Kawanishi and H. Kawabe: Stabilizing control for a single Pendulum by moving the centre of gravity – Theory and experiment-, Proceedings of the American Control Conference, Albuquerque, New Mexico, (1997).

DOI: 10.1109/acc.1997.612097

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[3] K. Yoshida: Nonlinear controller design for a crane system with state constraints, Proceedings of the American Control Conference, Philadelphia, Pensilvania, (1998).

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[4] Information on http: /www. sosmath. com/diffeq/system/qualitative/qualitative. html.

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