This paper presents a method for using reset control as an alternative way of obtaining dissipation for a class of port-Hamiltonian systems. One advantage of this approach is the simplicity of its implementation, which requires only a velocity observer. Another advantage is its robustness to modeling uncertainties, since it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this technique.
Issue Section:
Technical Briefs
Keywords:
cranes,
damping,
nonlinear control systems,
observers,
velocity control,
vibration control
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.Copyright © 2012
by American Society of Mechanical Engineers
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