@inproceedings{a87a3c0086db44bcbaa70c47a3b3b007,
title = "State-Feedback Nonlinear H∞Boundary Control for a Gantry Crane with Flexible Cable",
abstract = "We have solved the state-feedback nonlinear {\mathcal{H}_\infty } boundary control to stabilize a flexible cable of a gantry crane. The cable is not assumed rigid; therefore, we represented the cable dynamics as a hyperbolic partial differential equation. We proved the asymptotical stability of the unperturbed closed-loop system through a strict Lyapunov functional. Moreover, we demonstrated the disturbance attenuation level through the 2-gain analysis. We corroborate the theoretical results by numerical simulations developed in a dynamic model of a laboratory gantry crane.",
keywords = "Distributed parameter systems, Hboundary control, flexible cable, state-feedback",
author = "Aguilar, {Luis T.}",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 23rd Robotics Mexican Congress, COMRob 2021 ; Conference date: 27-10-2021 Through 29-10-2021",
year = "2021",
doi = "10.1109/ComRob53312.2021.9628529",
language = "Ingl{\'e}s",
series = "Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "7--12",
booktitle = "Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021",
address = "Estados Unidos",
}