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Bang bang motion control of a Cartesian crane

Published online by Cambridge University Press:  09 March 2009

R. M. DeSantis  and
S. Krau
R. M. DeSantis
Affiliation:
Génie Electrique et Génie Informatique, Ecole Polytechnique de Montréal, Montréal (Canada) H3C 3A 7
S. Krau
Affiliation:
Génie Electrique et Génie Informatique, Ecole Polytechnique de Montréal, Montréal (Canada) H3C 3A 7
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Summary

A motion controller for an overhead Cartesian crane in three-dimensional Euclidean (3-D) space is designed under the constraint that the control action belong to a discrete set of assigned values. The design approach rests upon a two-step procedure: first, a constraintfree motion controller is determined that satisfies the required dynamic specifications; second, this controller is replaced with an equivalent controller satisfying the discrete action constraint. The first step is implemented by means of a heuristic 3-D extension of a well-proven 2-D controller, the second step by applying recent sliding mode results. Numerical simulations illustrate the properties of the resulting feedback system under both nominal and perturbed operating conditions.

Keywords

FeedbackMotion controlOverhead craneSliding mode
Type
Article
Information
Robotica , Volume 12 , Issue 5 , September 1994 , pp. 449 - 454
Copyright
Copyright © Cambridge University Press 1994

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