Closed-loop stability analysis of a gantry crane with heavy chain and payload

DOI10.1080/00207179.2017.1335439zbMATH Open1397.93181arXiv1607.07052OpenAlexW2618820980MaRDI QIDQ5375907FDOQ5375907

Authors: Dominik Stürzer, Anton Arnold, A. Kugi 

Publication date: 17 September 2018

Published in: International Journal of Control (Search for Journal in Brave)

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 $C_0$-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.

Full work available at URL: https://arxiv.org/abs/1607.07052

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zbMATH Keywords

stabilityinfinite-dimensional systemsgantry crane with heavy chains

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Application models in control theory (93C95) Asymptotic stability in control theory (93D20) Control/observation systems in abstract spaces (93C25)

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Cited In (4)

• Robust adaptive vibration control of a gantry crane system with flexible cable
• Adaptive output‐feedback control for damped wave equations with unknown damping coefficient and corrupted boundary measurement
• Adaptive output-feedback stabilisation for wave equations with dynamic boundary condition and corrupted boundary measurement
• Dynamic Analysis of the Gantry Crane Used for Transporting BOP

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