Name
Abstract | ||
|---|---|---|
A modeling framework is proposed for the control of rigid and flexible cable-like systems such as cranes, together with a systematic algorithm for computing flat outputs of mechanical systems for which the flat output is a linear combination of free coordinates. Key Lagrange multipliers are shown (i) to impose the condition of cable looseness, and (ii) to act as the extended states in the classical state-space representation. Some examples of cranes and suspended cable robots are given with their corresponding dynamics summarized as a set of well-defined vectors and matrices of real numbers. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/CCA.2010.5611216 | CCA |
Keywords | Field | DocType |
flatness,modeling | Flatness (systems theory),Linear combination,Flexible cable,Nonlinear control,Matrix (mathematics),Control theory,Lagrange multiplier,Computer science,Control engineering,Robot,Mechanical system | Conference |
ISSN | ISBN | Citations |
1085-1992 | 978-1-4244-5363-4 | 0 |
PageRank | References | Authors |
0.34 | 10 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Müllhaupt, P. | 1 | 0 | 0.34 |
| Basile Graf | 2 | 0 | 0.34 |