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

被引：0
|
作者：
Woods, S. [1 ]
Szyszkowski, W. [1 ]
机构：
[1] Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada
来源：
JOURNAL OF APPLIED MATHEMATICS | 2014年
关键词：
VIBRATION ATTENUATION; CONSTRAINTS;
D O I：
10.1155/2014/283565
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
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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页数：16
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