| Autor: |
Diwold, Johannes, Kolar, Bernd, Schöberl, Markus |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Control Engineering Practice 2022 |
| Druh dokumentu: |
Working Paper |
| DOI: |
10.1016/j.conengprac.2021.104980 |
| Popis: |
This article addresses the design of a discrete-time flatness-based tracking control for a gantry crane and demonstrates the practical applicability of the approach by measurement results. The required sampled-data model is derived by an Euler-discretization with a prior state transformation in such a way that the flatness of the continuous-time system is preserved. Like in the continuous-time case, the flatness-based controller design is performed in two steps. First, the sampled-data system is exactly linearized by a discrete-time quasi-static state feedback. Subsequently, a further feedback enforces a stable linear tracking error dynamics. To underline its practical relevance, the performance of the novel discrete-time tracking control is compared to the classical continuous-time approach by measurement results from a laboratory setup. In particular, it turns out that the discrete-time controller is significantly more robust with respect to large sampling times. Moreover, it is shown how the discrete-time approach facilitates the design of optimal reference trajectories, and further measurement results are presented. |
| Databáze: |
arXiv |
| Externí odkaz: |
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