Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane

DOI10.1016/J.IFACOL.2023.02.038MaRDI QIDQ6506148arXivFDO

Authors Johannes Diwold, Bernd Kolar, Markus Schöberl

Published in arXiv

Full work available at URL https://doi.org/10.1016/J.IFACOL.2023.02.038

Abstract: We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformation of a subsystem into the linear time-variant discrete-time controller canonical form. Based on the derived flat output, which is also a function of backward-shifts of the system variables, we discuss the planning of trajectories to achieve a transition between two rest positions and compute the corresponding discrete-time feedforward control.

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