Simple anti-swing feedback control for a gantry craneстатья
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Дата последнего поиска статьи во внешних источниках: 16 марта 2022 г.
Аннотация:We propose a simple quasi time optimal control for a gantry crane with a payload. The force applied to the trolley is a control parameter. The control law consists of two parts: a commanded feed-forward force and a trolley position and velocity feedback. Initially we design the feed-forward control and corresponding reference trajectory by computing the time optimal control for the system mass center. Computed optimal control is discontinuous function of the time with several switching instants. Undesirable large vibrations due to the payload sway appear under this control. Therefore, we transform it replacing its jumps by the piecewise linear continuous functions.