Work

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

Year: 2023

Type: article

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.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2023.02.038

Authors: Johannes Diwold, Bernd Kolar, Markus Schöberl

Institutions: Johannes Kepler University of Linz, Magna (Austria)

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: Austrian Science Fund

Award: Flatness based system decompositions