Paper Title:
Dependent versus Independent Variable Formulation for the Dynamics and Control of Cranes
  Abstract

Cranes are underactuated mechanical systems with fewer control inputs than the degrees of freedom. Their usual performance goal is to execute a desired load trajectory, which is specified by as many outputs as the control inputs. A solution to the inverse simulation problem, in which the control of the underactuated system required to execute the partly specified motion is determined, is a challenging task. The inverse simulation study is usually formulated in independent variables. In this paper a dependent variable formulation is reported, advantageous in many aspects. The resultant governing equations appear as simple index-three differential-algebraic equations, and an effective numerical code for their solution is discussed.

  Info
Periodical
Solid State Phenomena (Volumes 147-149)
Edited by
Zdzislaw Gosiewski and Zbigniew Kulesza
Pages
221-230
DOI
10.4028/www.scientific.net/SSP.147-149.221
Citation
W. Blajer, K. Kołodziejczyk, "Dependent versus Independent Variable Formulation for the Dynamics and Control of Cranes", Solid State Phenomena, Vols. 147-149, pp. 221-230, 2009
Online since
January 2009
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Price
$32.00
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