Geometry and flatness of m-crane systems

• Autorzy: Nowicki M. , Respondek W. , Piasek J. , Kozłowski K.

Identyfikatory

DOI

10.24425/bpasts.2019.130872

• Języki publikacji: EN

Abstrakty

EN

We propose a class of m-crane control systems that generalizes two- and three-dimensional crane systems. We prove that each representant of the described class is feedback equivalent to the second order chained form with drift. In consequence, we prove that it is differentially flat. Then we investigate its control properties and derive a control law for tracking control problem.

Słowa kluczowe

EN

differential flatness; crane; chained systems; feedback equivalence; accessibility; nonlinear control

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2019
• Tom: Vol. 67, nr 5
• Strony: 893--903
• Opis fizyczny: Bibliogr. 18 poz., rys., tab.

Twórcy

autor

Nowicki M.

• Poznan University of Technology, Institute of Automatic Control and Robotic, Piotrowo 3a, 61-138 Poznań, Poland
• Normandie Université, INSA de Rouen, Laboratoire de Mathématiques, 76801 Saint-Etienne-du-Rouvray, France

autor

Respondek W.

• Normandie Université, INSA de Rouen, Laboratoire de Mathématiques, 76801 Saint-Etienne-du-Rouvray, France

autor

Piasek J.

• Poznan University of Technology, Institute of Automatic Control and Robotic, Piotrowo 3a, 61-138 Poznań, Poland

autor

Kozłowski K.

• Poznan University of Technology, Institute of Automatic Control and Robotic, Piotrowo 3a, 61-138 Poznań, Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).