Open AccessNonlinear Controller Design for the Underactuated Crane System
Author(s) -
Diantong Liu,
Weiping Guo
Publication year - 2013
Publication title -
international journal of control and automation
Language(s) - English
Resource type - Journals
eISSN - 2207-6387
pISSN - 2005-4297
DOI - 10.14257/ijca.2013.6.6.10
Subject(s) - underactuation , nonlinear system , controller (irrigation) , control theory (sociology) , control engineering , computer science , engineering , control (management) , artificial intelligence , physics , biology , quantum mechanics , agronomy
A nonlinear controller is designed for the underactuated crane. In the design process, a nonlinear variable composed with all the system states is defined and then the nonlinear controller is obtained with the Lyapunov stability theory. The system stability is proved via a stability theorem. The simulation results show the system under any initial states is asymptotically stable to the origin and the proposed algorithm is validated. © 2013 SERSC.
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