In this paper, we analyze and discuss the time optimal control problem for bridge cranes. Specifically, we employ the geometric approach introduced in [12] to address the control issue without computing the analytic trajectory of the costate. As a second contribution, we show that an alternative approach based on a proportional controller accounting for the limits of the control action can be tuned to resemble to the time-optimal solution, but with simpler and more robust implementation. The above ideas are validated by means of some simulation examples
(2014). On time-optimal anti-sway controller design for bridge cranes [conference presentation - intervento a convegno]. Retrieved from http://hdl.handle.net/10446/32430
On time-optimal anti-sway controller design for bridge cranes
FORMENTIN, Simone;ERMIDORO, Michele;PREVIDI, Fabio;
2014-01-01
Abstract
In this paper, we analyze and discuss the time optimal control problem for bridge cranes. Specifically, we employ the geometric approach introduced in [12] to address the control issue without computing the analytic trajectory of the costate. As a second contribution, we show that an alternative approach based on a proportional controller accounting for the limits of the control action can be tuned to resemble to the time-optimal solution, but with simpler and more robust implementation. The above ideas are validated by means of some simulation examplesFile | Dimensione del file | Formato | |
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