Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 61, Issue 12, Pages 6915-6925Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2014.2320231
Keywords
Minimum-time trajectory planning (MTTP); overhead cranes; underactuated systems
Categories
Funding
- National Natural Science Foundation of China [61203333, 61325017]
- Specialized Research Fund for the Doctoral Program of Higher Education of China [20120031120040]
- Tianjin Natural Science Foundation [13JCQNJC03200]
- Open Project of Chongqing Key Laboratory of Computational Intelligence [CQ-LCI-2013-03]
Ask authors/readers for more resources
In this paper, we propose a novel offline minimum-time trajectory planning (MTTP) approach for underactuated overhead cranes. To the best of our knowledge, it is the first optimal solution to the MTTP problem for overhead crane systems, which simultaneously takes into account various constraints, including the bounded swing angle for the payload, bounded velocity, acceleration, and even jerk for the trolley. Different from existing approaches, by means of system discretization and augmentation, the quasi-convex optimization technique is successfully adopted to find the minimum-time solution while satisfying all the aforementioned constraints. Extensive simulation and experiments with comparisons to previously published methods are conducted to show the superior performance of the proposed method. Note that the results derived in this paper also serve as promising guidance in engineering applications, since it provides a performance limit, namely, the possible highest efficiency for automatic or manual operation of overhead cranes.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available