@inproceedings{f854b42d5be8437aa1ee59a2caefb06f,
title = "Velocity Constrained Time-Optimal Control of a Gantry Crane System",
abstract = "The focus of this paper is on the development of velocity constrained time-optimal control profiles for point-to-point motion of a gantry crane system. Assuming that the velocity of the trolley of the crane can be commanded, an optimal control problem is posed to determine the bang-off-bang control profile to transition the system to the terminal states with no residual vibrations. Both undamped and underdamped systems are considered and the variation of the structure of the optimal control profiles as a function of the final displacement is studied and the collapse and birthing of switches in the control profile are explained. To account for uncertainties in model parameters, a robust controller design is posed and the tradeoff of increase in maneuver time to the reduction of residual vibrations is illustrated.",
keywords = "Gantry Crane, Input Shaper, Vibration Control",
author = "Adrian Stein and Tarunraj Singh",
note = "Publisher Copyright: {\textcopyright} 2022 American Automatic Control Council.; 2022 American Control Conference, ACC 2022 ; Conference date: 08-06-2022 Through 10-06-2022",
year = "2022",
doi = "10.23919/ACC53348.2022.9867701",
language = "English",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3766--3770",
booktitle = "2022 American Control Conference, ACC 2022",
address = "United States",
}