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• W2023022016 abstract "In this paper, we propose a novel offline minimum-time trajectory planning (MTTP) approach for underactuated overhead cranes. To the best of our knowledge, it is the first optimal solution to the MTTP problem for overhead crane systems, which simultaneously takes into account various constraints, including the bounded swing angle for the payload, bounded velocity, acceleration, and even jerk for the trolley. Different from existing approaches, by means of system discretization and augmentation, the quasi-convex optimization technique is successfully adopted to find the minimum-time solution while satisfying all the aforementioned constraints. Extensive simulation and experiments with comparisons to previously published methods are conducted to show the superior performance of the proposed method. Note that the results derived in this paper also serve as promising guidance in engineering applications, since it provides a performance limit, namely, the possible highest efficiency for automatic or manual operation of overhead cranes." @default.
• W2023022016 created "2016-06-24" @default.
• W2023022016 creator A5025392915 @default.
• W2023022016 creator A5052746505 @default.
• W2023022016 date "2014-12-01" @default.
• W2023022016 modified "2023-10-16" @default.
• W2023022016 title "Minimum-Time Trajectory Planning for Underactuated Overhead Crane Systems With State and Control Constraints" @default.
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• W2023022016 doi "https://doi.org/10.1109/tie.2014.2320231" @default.
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