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  
Seifried, Robert  
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.
ISSN: 1384-5640
Institute: Mechanik und Meerestechnik M-13 
Document Type: Article
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