Minimum-time anti-swing motion planning of cranes using linear programming

dc.contributor.authorDa Cruz J.J.
dc.contributor.authorLeonardi F.
dc.date.accessioned2019-08-20T00:13:15Z
dc.date.available2019-08-20T00:13:15Z
dc.date.issued2013
dc.description.abstractA novel method to solve the minimum-time anti-swing motion planning problem for cranes based on the use of linear programming is proposed. It is shown that its solution can be obtained by solving a sequence of fixed-time maximum-range linear programming problems. A convergence proof is presented. A classical kinematical model for which the trolley acceleration is the control variable is used. The crane motion equations are discretized in time assuming that the control variable is piecewise constant. Inequality constraints on both trolley speed and acceleration are included to represent physical bounds associated to the electromechanical driving system. The load and the trolley are required to be at rest both at the initial and at the final times. The load cable length as a function of time is assumed given. The ease of both the formulation and the solution of the problem is in contrast with the traditional two-point boundary value problem associated to the Pontryagin's minimum principle. Copyright © 2012 John Wiley & Sons, Ltd.
dc.description.firstpage191
dc.description.issuenumber2
dc.description.lastpage201
dc.description.volume34
dc.identifier.citationDa Cruz, J.J.; LEONARDI, Fabrizio. Minimum-time anti-swing motion planning of cranes using linear programming. Optimal Control Applications & Methods, v. Vol, p. n/a-n/a, 2012.
dc.identifier.doi10.1002/oca.2016
dc.identifier.issn0143-2087
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/1999
dc.relation.ispartofOptimal Control Applications and Methods
dc.rightsAcesso Aberto
dc.subject.otherlanguageanti-swing control
dc.subject.otherlanguagecrane control
dc.subject.otherlanguagelinear programming
dc.subject.otherlanguageminimum-time control
dc.subject.otherlanguagemotion planning
dc.titleMinimum-time anti-swing motion planning of cranes using linear programming
dc.typeArtigo
fei.scopus.citations21
fei.scopus.eid2-s2.0-84875256663
fei.scopus.subjectAntiswing control
fei.scopus.subjectCrane control
fei.scopus.subjectInequality constraint
fei.scopus.subjectLinear programming problem
fei.scopus.subjectMinimum time
fei.scopus.subjectMotion planning problems
fei.scopus.subjectPontryagin's minimum principles
fei.scopus.subjectTwo-point boundary value problem
fei.scopus.updated2024-05-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84875256663&origin=inward
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