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.


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    Titel :

    Real-time trajectory control of an overhead crane using servo-constraints


    Beteiligte:
    Otto, Svenja (Autor:in) / Seifried, Robert (Autor:in)

    Erscheinungsdatum :

    2018-01-01


    Anmerkungen:

    2-s2.0-85015728303


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    531 / 629



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