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An efficient online trajectory generating method for underactuated crane systems
Author(s) -
Sun Ning,
Fang Yongchun
Publication year - 2013
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.2953
Subject(s) - underactuation , trajectory , computer science , swing , overhead crane , overhead (engineering) , control theory (sociology) , trajectory optimization , lyapunov function , mathematical optimization , control engineering , mathematics , engineering , control (management) , artificial intelligence , nonlinear system , mechanical engineering , physics , structural engineering , astronomy , quantum mechanics , operating system
SUMMARY In this paper, a trajectory planning approach is proposed for underactuated overhead cranes. Different from existing trajectory planning methods, the presented approach generates trajectory commands online without the necessity of iterative optimization, which is convenient for practical implementation. We demonstrate the performance of the proposed method, including swing elimination and precise trolley positioning, with rigorous Lyapunov‐based mathematical analysis. Both numerical simulation and experimental results suggest that the presented method is feasible and efficient for practical applications. Copyright © 2013 John Wiley & Sons, Ltd.