Structure of the time-optimal control law for multiple arms handling a common object along specified paths

1992 ◽  
Vol 37 (10) ◽  
pp. 1648-1652 ◽  
Author(s):  
Y. Chen
Keyword(s):  
Optimal Control ◽  
Time Optimal Control ◽  
Control Law ◽  
Common Object ◽  
Time Optimal

Simple anti-swing feedback control for a gantry crane

Robotica ◽  
2003 ◽  
Vol 21 (6) ◽  
pp. 655-666 ◽  
Author(s):  
Yannick Aoustin ◽  
Alexander Formal'sky
Keyword(s):  
Optimal Control ◽  
Piecewise Linear ◽  
Continuous Functions ◽  
Time Optimal Control ◽  
Gantry Crane ◽  
Control Law ◽  
Reference Trajectory ◽  
Controlling Parameter ◽  
Input Signals ◽  
Time Optimal

We propose a simple quasi time optimal control law for a gantry crane with a payload. The force applied to the trolley is a controlling parameter. The control law consists of two parts: a feedforward term and a trolley position and velocity feedback term.Initially, we synthesize the feedforward term and the corresponding reference trajectory by computing the time optimal control for the system mass center. The computed optimal control is a discontinuous function of time with several switching time instants. Undesirable large vibrations due to the payload sway appear under this control. Therefore, we transform this control, replacing its jumps by the piecewise linear continuous functions. The computed feedforward term and the reference trajectory are used as input signals of the PD-controller.

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