Nonlinear Feedback Control of a Dual-Cable Ropeway System

Abstract

This paper investigates dynamic control of dual‐cable transportation systems, where the haul cable drives a concentrated load on a flexible track cable. The objective of this research is to develop a nonlinear feedback control algorithm applied to this unique cable system, which can be applied to the Navy Underway Replenishment System. First, the nonlinear system model is developed which has the form of a second order nonlinear differential equation coupled with a set of algebraic constraints. Then a linearizing feedback control law is presented that drives a concentrated load smoothly from one point to another. The method is illustrated by simulation results.