|Publisher DOI:||10.1007/s11044-017-9569-4||Title:||Real-time trajectory control of an overhead crane using servo-constraints||Language:||English||Authors:||Otto, Svenja
|Keywords:||Feedforward control;Overhead crane;Servo-constraints;Trajectory tracking;Underactuated systems||Issue Date:||1-Jan-2018||Source:||Multibody System Dynamics 1 (42): (2018-01-01)||Journal:||Multibody system dynamics||Abstract (english):||
In this paper, the system dynamics of an overhead crane are inverted by servo-constraints. The inversion provides a feedforward control for trajectory tracking of the system output. The overhead crane is inherently underactuated and modeled as a two-dimensional mechanical system with nonlinear system dynamics. Actuators are modeled as first-order systems to simplify implementation and account for velocity-controlled drives. The control based on servo-constraints is shown to be an effective method of trajectory control for overhead cranes. It will be demonstrated that the formulation is solvable in real-time using linear implicit Euler integration. The feedforward solution is made robust by an augmentation with LQR as well as a sliding mode controller. Experiments are conducted on a laboratory crane of 13 m motion range.
|URI:||http://hdl.handle.net/11420/3912||ISSN:||1384-5640||Institute:||Mechanik und Meerestechnik M-13||Document Type:||Article|
|Appears in Collections:||Publications without fulltext|
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