Stabilization of Variable Rope Length Pendulum using Lyapunov's Theory and Differential Geometry

摘要

In this paper, we investigate the motion of variable rope length pendulum as basic part of a portal crane. Our starting point is a discussing the behavior of that system for variable range of condition. We show the basic control strategy that damps the oscillation of hanging pendulum. This control law is developed using Lyapunov's method and recently analyzed by [2]. Further, the control strategy is improved in the sense of faster damping resulted from differential geometry.