Differentially Flatness-based Trajectory Control a 2-Degree-of-freedom Gantry Crane Robot
In order to realize the accurate trajectory tracking and anti-swing control of 2 degree-of-freedom gantry crane robot, detailed analysis of the differential flatness on the basis of its nonlinear dynamic model is given and it is pointed out that such kind of differential flatness is beneficial to accurate trajectory generation. The feedforward controller and feedback trajectory tracking controller are analyzed and it is found that the corresponding state space is nonlinear because the flatness-based dynamic system is nonlinear, but the system can be changed into a linear system by state-space exact linearization without feedback by state transformation, also the linear system will be changed into a closed-loop system with decoupled outputs using an error linear feedback controller which the error between the desired and real trajectory of the spreader can realize global asymptotic stability and convergence by adjusting the feedback gains. The simulation results have proven the correctness of the theoretical conclusions and shown that influence of the friction on the inputs for the actuators is little when the spreader moves with a low speed.
Ya-Qing ZHENG Jian-Po WU
College of Mechanical Engineering and Automation,HuaqiaoUniversity,Quanzhou,362021,China College of Mechanical Engineering and Automation,HuaqiaoUniversity,362021,China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
54-59
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）