Search

Skip to main content Accessibility help

Home
Search

Only show content I have access to (0)

Articles (1)

Over 3 years (1)

From year:

To year:

Apply

Computer Science (1)

reference trajectory

Robotica (1)

View selected items
Save to my bookmarks
Export citations
Download PDF (zip)
Save to Kindle
Save to Dropbox
Save to Google Drive
Save content to
To save content items to your account, please confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your account. Find out more about saving content to .

To save content items to your Kindle, first ensure [email protected] is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about saving to your Kindle.

Note you can select to save to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be saved to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

Find out more about the Kindle Personal Document Service.

Please be advised that item(s) you selected are not available.
You are about to save
Your Kindle email address

Please provide your Kindle email.

@free.kindle.com @kindle.com (service fees apply)

By using this service, you agree that you will only keep content for personal use, and will not openly distribute them via Dropbox, Google Drive or other file sharing services

1 results

Simple anti-swing feedback control for a gantry crane
Yannick Aoustin, Alexander Formal'sky
Journal:

Robotica / Volume 21 / Issue 6 / December 2003

Published online by Cambridge University Press:

24 October 2003, pp. 655-666
- Article
- - Get access
    
    Check if you have access via personal or institutional login
    
    Log in Register
- Export citation
We propose a simple quasi time optimal control law for a gantry crane with a payload. The force applied to the trolley is a controlling parameter. The control law consists of two parts: a feedforward term and a trolley position and velocity feedback term.
Initially, we synthesize the feedforward term and the corresponding reference trajectory by computing the time optimal control for the system mass center. The computed optimal control is a discontinuous function of time with several switching time instants. Undesirable large vibrations due to the payload sway appear under this control. Therefore, we transform this control, replacing its jumps by the piecewise linear continuous functions. The computed feedforward term and the reference trajectory are used as input signals of the PD-controller.