Flatness-based control of a horizontally moving erected beam with a point mass

Mathias Bachmayer, Heinz Ulbrich and Joachim Rudolph

Mathematical and Computer Modelling of Dynamical Systems, 2010, vol. 17, issue 1, 49-69

Abstract: A mechanism consisting of a horizontally moving cart that carries an erected flexible beam with a point mass -- as occurring in placement machines or stacker cranes -- is considered. An explicitly parametrized feed-forward control law is designed using a flatness-based approach. Nominally, this control law allows one to perform fast placement motions although avoiding residual oscillations at the arrival. The efficiency of this approach and sensitivity with respect to parametric uncertainties are investigated numerically using both finite element and finite difference models. An experimental set-up is presented and some experimental results demonstrate the usefulness of the approach.

Date: 2010
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/13873954.2010.537517 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:nmcmxx:v:17:y:2010:i:1:p:49-69

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/NMCM20

DOI: 10.1080/13873954.2010.537517

Access Statistics for this article

Mathematical and Computer Modelling of Dynamical Systems is currently edited by I. Troch

More articles in Mathematical and Computer Modelling of Dynamical Systems from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().