Optimal trajectory planning and tracking control method for overhead cranes

DOI10.1049/IET-CTA.2015.0809MaRDI QIDQ6920303zbMATH OpenFDO

Authors He Chen, Yongchun Fang, Ning Sun

Publication date 8 October 2025

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/IET-CTA.2015.0809

zbMATH Keywords

2D underactuated overhead craneallowable trolley accelerationB-spline curvecontrol system synthesiscranesdifferential flatness techniquefeedbackfeedback linearisation techniquehigh-efficient trolley trajectorynonlinear control systemsnonlinear tracking control lawoptimal controloptimal trajectory planningoptimisationoverhead cranepayload swingtime-optimal off-line trajectory planning methodtracking control methodtrajectory controltrolley motiontrolleystwo-dimensional underactuated overhead craneunknown parameter

Mathematics Subject Classification ID

Existence theories for free problems in one independent variable (49J05) Linearizations (93B18) Feedback control (93B52) Nonlinear systems in control theory (93C10)

Cites work

• A practical guide to splines
• Command shaping for nonlinear crane dynamics
• Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs
• Motion planning for three-dimensional overhead cranes with high-speed load hoisting
• On necessary and sufficient conditions for differential flatness
• Optimal trajectory planning for industrial robots
• Sliding mode control of a three-dimensional overhead crane

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