Closed-loop stability analysis of a gantry crane with heavy chain and payload
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Publication:5375907
Abstract: In this paper, we analyze a systematically designed and easily tunable backstepping-based boundary control concept developed by Thull, Wild, and Kugi (2006) for a gantry crane with heavy chain and payload. The corresponding closed-loop system is formulated as an abstract evolution equation in an appropriate Hilbert space. Non-restrictive conditions for the controller coefficients are derived, under which the solutions are described by a -semigroup of contractions, and are asymptotically stable. Moreover, by applying Huang's theorem we can finally even show that under these conditions the controller renders the closed-loop system exponentially stable.
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