Optimal manoeuvres of underactuated linear mechanical systems: the case of controlling gantry crane operations
type: Item
instance of: scholarly article
title: Optimal manoeuvres of underactuated linear mechanical systems: the case of controlling gantry crane operations
zbMATH Open document ID: 1406.70035
DOI: 10.1155/2014/283565
author: Erdal Karapınar
published in: Journal of Applied Mathematics
publication date: 2019-02-01T00:00:00Z
review text: Summary: A method of solving optimal manoeuvre control of linear underactuated mechanical systems is presented. The nonintegrable constraints present in such systems are handled by adding dummy actuators and then by applying Lagrange multipliers to reduce their action to zero. The open- and closed-loop control schemes can be analyzed. The method, referred to as the constrained modal space optimal control (CMSOC), is illustrated in the examples of gantry crane operations.
Mathematics Subject Classification ID: 70Q05
zbMATH DE Number: 7010587
Wikidata QID: Q59050701
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/283565
OpenAlex ID: W2041601615
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description: scientific article; zbMATH DE number 7010587