Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

Abstract Tower cranes find wide use in construction works, in ports and in several loading and unloading procedures met in industry. A nonlinear optimal control approach is proposed for the dynamic model of the 4-DOF underactuated tower crane. The dynamic model of the robotic crane undergoes approxi...

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Bibliographic Details
Main Authors: G. Rigatos, M. Abbaszadeh, J. Pomares
Format: Article
Language:English
Published: Springer 2022-08-01
Series:Autonomous Intelligent Systems
Subjects:
Tower cranes
Underactuated robotic manipulators
4-DOF robotic tower crane
Nonlinear H-infinity control
Taylor series expansion
Jacobian matrices
Online Access:https://doi.org/10.1007/s43684-022-00040-4

Internet

https://doi.org/10.1007/s43684-022-00040-4

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