Design of a Laboratory Crane for Testing Control Approaches
The paper describes the development of a laboratory crane which is intended to serve as an experimental basis for testing different control approaches for under-actuated systems. The design steps consist of scaling a given simulation model, redesign according to the needs of electric drives, and parameter identification. A first control approach is based on ideas described in  where the control gains are found by optimization.
Key wordsmultibody dynamics under-actuated systems control optimization
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