Prediction of Control of Overhead Cranes Executing a Prescribed Load Trajectory
Manipulating payloads with overhead cranes can be challenging due to the underactuated nature of the system — the number of control inputs/outputs is smaller than the number of degrees-of-freedom. The control outputs (desired load trajectory coordinates), expressed in terms of the system states, lead to control constraints on the system, and the governing equations arise as index five differential-algebraic equations, transformed then to an index three form. An effective numerical code for solving the resultant equations is used. The feedforward control law obtained this way is then extended by a closed-loop control strategy with feedback of the actual errors to provide stable tracking of the required reference load trajectories in presence of perturbations.
Key wordscranes dynamics control trajectory tracking differential-algebraic equations
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