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arXiv · 1607.07052

Closed-loop Stability Analysis of a Gantry Crane with Heavy Chain

Dominik Stürzer·Anton Arnold·Andreas Kugi
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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.

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Dominik Stürzer, Anton Arnold, Andreas Kugi. 2016-07-24. Closed-loop Stability Analysis of a Gantry Crane with Heavy Chain. https://arxiv.org/abs/1607.07052

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