Title: Minimum-time motion planning of cranes with parametric uncertainty using linear programming
Authors: Jose Da Cruz
Abstract: The problem of minimum-time anti-swing motion planning of cranes with uncertainty in the hoisting speed of the load cable is addressed. The crane is modeled as a trolley-pendulum system for which the trolley acceleration is the control variable. A previously existing method that uses linear programming to solve the problem in the absence of uncertainties has been extended in order to take the uncertainty in the hoisting speed into account. Constraints that impose that the sensitivity of both the load angle and load angular speed with respect to the uncertain parameter to be zero at the final point of the path are included in the linear programming formulation.
Publication date: 2012-07-16
Online entry date: 2013-05-08
Conference: CONTROLO’2012
Publication pdf: Click for full publication