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Minimum-time anti-swing motion planning of cranes using linear programming
Da Cruz, J.J. ; Leonardi, F.
Optimal control applications & methods, 2013-03, Vol.34 (2), p.191-201
[Periódico revisado por pares]
Chichester, UK: John Wiley & Sons, Ltd
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Título:
Minimum-time anti-swing motion planning of cranes using linear programming
Autor:
Da Cruz, J.J.
;
Leonardi, F.
Assuntos:
Acceleration
;
anti-swing control
;
Convergence
;
crane control
;
Cranes
;
Linear programming
;
Mathematical analysis
;
Mathematical models
;
minimum-time control
;
Motion planning
;
Trolleys
É parte de:
Optimal control applications & methods, 2013-03, Vol.34 (2), p.191-201
Notas:
CNPq - No. 303202/2009-2
ArticleID:OCA2016
istex:BAA9DB870AA36874671F805D955390F956C1715F
ark:/67375/WNG-L8ZTN8TH-4
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
Descrição:
SUMMARYA novel method to solve the minimum‐time anti‐swing motion planning problem for cranes based on the use of linear programming is proposed. It is shown that its solution can be obtained by solving a sequence of fixed‐time maximum‐range linear programming problems. A convergence proof is presented. A classical kinematical model for which the trolley acceleration is the control variable is used. The crane motion equations are discretized in time assuming that the control variable is piecewise constant. Inequality constraints on both trolley speed and acceleration are included to represent physical bounds associated to the electromechanical driving system. The load and the trolley are required to be at rest both at the initial and at the final times. The load cable length as a function of time is assumed given. The ease of both the formulation and the solution of the problem is in contrast with the traditional two‐point boundary value problem associated to the Pontryagin's minimum principle. Copyright © 2012 John Wiley & Sons, Ltd.
Editor:
Chichester, UK: John Wiley & Sons, Ltd
Idioma:
Inglês
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