Trajectory tracking for boom cranes based on nonlinear control and optimal trajectory generation

被引：0
|
作者：
Arnold, Eckhard [1 ]
Neupert, Joerg [1 ]
Sawodny, Oliver [1 ]
Schneider, Klaus [2 ]
机构：
[1] Univ Stuttgart, Inst Syst Dynam, Pfaffenwaldring 9, D-70569 Stuttgart, Germany
[2] Liebherr Werk Nenzing GmbH, A-6710 Nenzing, Austria
来源：
PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The main objectives of crane automation are increasing the efficiency and safety of the transshipment processes. Therefore, advanced control strategies are applied for load sway reduction and trajectory tracking. The paper presents a nonlinear control strategy combined with a model-based optimal trajectory generation for the radial load movement of a boom crane. The results are validated by measurement results from a LIEBHERR harbor mobile crane.
引用
收藏
页码：985 / +
页数：2
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