| Autor: |
Diwold, Johannes, Kolar, Bernd, Schöberl, Markus |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
IFAC-PapersOnLine Volume 56, Issue 1, 2023, Pages 222-227 |
| Druh dokumentu: |
Working Paper |
| DOI: |
10.1016/j.ifacol.2023.02.038 |
| Popis: |
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. |
| Databáze: |
arXiv |
| Externí odkaz: |
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