Publications in Scientific Journals:
D. Stürzer, A. Arnold, A. Kugi:
"Closed-loop stability analysis of a gantry crane with heavy chain";
International Journal of Control,
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 C0-semigroup of contractions, and are asymp-totically stable. Moreover, by applying Huang´s theorem we can finally even show that under these conditions the controller renders the closed-loop system exponen-tially stable.
"Official" electronic version of the publication (accessed through its Digital Object Identifier - DOI)
Created from the Publication Database of the Vienna University of Technology.