A dynamic inversion approach for oscillation-free control of overhead cranes
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Authors
Padula, Fabrizio
Visioli, A.
Facchinetti, D.
Saleri, A.
Date
2015Type
Conference Paper
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Padula, F. and Visioli, A. and Facchinetti, D. and Saleri, A. 2015. A dynamic inversion approach for oscillation-free control of overhead cranes.
Source Title
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
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Department of Mathematics and Statistics
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Abstract
© 2015 IEEE.In this paper an approach for controlling overhead cranes by avoiding oscillations is proposed and experimentally tested. In particular, a dynamic inversion technique is applied to the overhead crane model to design suitable (position or velocity) set-point and torque feedforward signals. The inversion approach is further simplified in order to make the proposed methodology more industrial-oriented. Experimental results, obtained by using a scaled overhead crane built by using only off-the-shelf components, show the effectiveness of the proposed methodology.
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