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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2022-08-01
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| Series: | Autonomous Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1007/s43684-022-00040-4 |