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• W2904283712 abstract "Cranes are widely used to transport loads. The dynamical models of most crane systems are differentially flat. The motion planning and the closed-loop tracking of a load reference trajectory can be addressed thanks to this flatness property. The tracking feedback law can be functionally separated into a linearizing inner feedback and into an outer feedback ensuring the exponential decay of the tracking error. The expressions of both feedbacks involve model parameters, including typically the mass of the load, which are known with uncertainty. Since the exact values of such uncertain parameters are unknown, their nominal values are used in the feedback expressions. If the nominal values differ from the real ones, the closed-loop performance and the stability of tracking may be deteriorated. The method suggested in the paper assumes that the set of dynamics obtained with the linearizing feedback for different values of the uncertain parameters can be covered by a linear, output multiplicative uncertainty structure. This allows the application of H∞ synthesis techniques to design an additional robustifying feedback. In our setup, this additional synthesis step results in a serial controller to provide robust performance and stability against parameter uncertainties. All calculations are shown for a planar overhead crane. The usefulness of the approach is demonstrated using simulation results." @default.
• W2904283712 created "2018-12-22" @default.
• W2904283712 creator A5011976786 @default.
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• W2904283712 date "2018-01-01" @default.
• W2904283712 modified "2023-10-02" @default.
• W2904283712 title "Robust exact linearization of a 2D overhead crane" @default.
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• W2904283712 doi "https://doi.org/10.1016/j.ifacol.2018.11.567" @default.
• W2904283712 hasPublicationYear "2018" @default.
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