Optimal Manoeuvres of Underactuated Linear Mechanical Systems: The Case of Controlling Gantry Crane Operations | Zendy

S. Woods | Zendy; W. Szyszkowski | Zendy

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Optimal Manoeuvres of Underactuated Linear Mechanical Systems: The Case of Controlling Gantry Crane Operations

Author(s) -

S. Woods,

W. Szyszkowski

Publication year - 2014

Publication title -

journal of applied mathematics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.307

H-Index - 43

eISSN - 1687-0042

pISSN - 1110-757X

DOI - 10.1155/2014/283565

Subject(s) - control theory (sociology) , underactuation , gantry crane , lagrange multiplier , actuator , computer science , modal , optimal control , control (management) , mathematics , mathematical optimization , engineering , chemistry , structural engineering , artificial intelligence , polymer chemistry

A method of solving optimal manoeuvre control of linear underactuated mechanical systems is presented. The nonintegrable constraints present in such systems are handled by adding dummy actuators and then by applying Lagrange multipliers to reduce their action to zero. The open- and closed-loop control schemes can be analyzed. The method, referred to as the constrained modal space optimal control (CMSOC), is illustrated in the examples of gantry crane operations

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