Sumeet Satpute

Learn More
— The control of 4-DOF underactuated overhead crane system poses a challenging control problem as it has extra degree of freedom (DOF) compared to its popular 3-DOF variant. The extra DOF represents strong state coupling and hence more complicated system dynamics. We propose Geometric-Passivity Based Control (PBC) methodology for synthesis of nonlinear(More)
— In this paper, a nonlinear control law is proposed for the curved ball and beam system with the ball at the upright position. The stabilization of such a system is challenging, as compared to conventional ball and (straight) beam system, due to the presence of two unstable equilibrium points and the gyroscopic forces appearing in its dynamics. Further,(More)
  • 1