Interconnection and Damping Assignment Passivity-Based Control for Underactuated Overhead Cranes with Frictions
Bibliographic record
Abstract
Due to its underactuated characteristics, the control difficulty of underactuated overhead cranes is greatly increased. In this paper, a control scheme based on interconnection and damping assignment passivity-based control method is proposed. First of all, in order to simplify the controller design, the overhead crane system is linearized at the origin. Then, a design technique is applied to interconnection and damping assignment passivity-based control method, which can simplify the partial differential equation of the potential energy. Finally, a controller is designed by using interconnection and damping assignment passivity-based control method. By designing an elegant controller, the swing of payload is suppressed and the trolley is adjusted to the desired destination of the overhead crane system. Via zero dynamics and Lyapunov stability theorems, the stability analysis is rigorously provided. Some simulation results are provided to prove the applicability of the proposed control scheme.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".