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|Title:||Minimum-time control of crane with simultaneous traverse and hoist|
|Authors:||Ong, C.J. |
|Source:||Ong, C.J.,Hu, G.S.,Teo, C.L. (1999). Minimum-time control of crane with simultaneous traverse and hoist. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC 67 : 125-132. ScholarBank@NUS Repository.|
|Abstract:||The problem of minimum-time control of crane having simultaneous traverse and hoisting motions is considered. We propose an approach that converts this problem into a finite dimensional optimization problem via control parameterization with an appropriate basis function. Such an approach simplifies the treatment of the constraints and allows for the easy satisfaction of the endpoint constraints. This optimization problem is solved using a novel two-stage optimization process. Under additional conditions, the solution obtained from this process can be shown to be the optimum. When these conditions are not met, a near optimal solution is obtained. Several numerical examples are provided, including the case where there is unequal cable length at the endpoints.|
|Source Title:||American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC|
|Appears in Collections:||Staff Publications|
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