TY - GEN
T1 - A practical optimal controller for underactuated gantry crane systems
AU - Gao, Bingtuan
AU - Chen, Hongjun
AU - Zhang, Xiaohua
AU - Qi, Haiming
PY - 2006
Y1 - 2006
N2 - In order to meet the operation requirements of fast anti-swaying and precise positioning of underactuated gantry crane systems, a practical optimal control scheme is presented based on the state differential equations for the swaying payload. The analysis of the system phase plane shows the swaying characteristics of the payload during the operations which determine the optimal timetable of accelerating and decelerating the cart, consequently, the specific anti-swaying controller is derived. To guarantee the precise positioning of the cart, the anti-swaying controller is redesigned to adapt both the requirements. As a result, the payload can be placed at the appropriate position with high efficiency. Finally, implemental results based on a scaled gantry crane demonstrate the feasibility of the proposed control scheme.
AB - In order to meet the operation requirements of fast anti-swaying and precise positioning of underactuated gantry crane systems, a practical optimal control scheme is presented based on the state differential equations for the swaying payload. The analysis of the system phase plane shows the swaying characteristics of the payload during the operations which determine the optimal timetable of accelerating and decelerating the cart, consequently, the specific anti-swaying controller is derived. To guarantee the precise positioning of the cart, the anti-swaying controller is redesigned to adapt both the requirements. As a result, the payload can be placed at the appropriate position with high efficiency. Finally, implemental results based on a scaled gantry crane demonstrate the feasibility of the proposed control scheme.
UR - https://www.scopus.com/pages/publications/33750959286
M3 - 会议稿件
AN - SCOPUS:33750959286
SN - 0780393953
SN - 9780780393950
T3 - 1st International Symposium on Systems and Control in Aerospace and Astronautics
SP - 726
EP - 730
BT - 1st International Symposium on Systems and Control in Aerospace and Astronautics
T2 - 1st International Symposium on Systems and Control in Aerospace and Astronautics
Y2 - 19 January 2006 through 21 January 2006
ER -