Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane
نویسندگان
چکیده
We show that the Euler-discretization of nonlinear continuous-time model a single mast stacker crane is flat. The construction flat output based on transformation subsystem into linear time-variant discrete-time controller canonical form. Based derived output, which also function backward-shifts system variables, we discuss planning trajectories to achieve transition between two rest positions and compute corresponding feedforward control.
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2023
ISSN: ['2405-8963', '2405-8971']
DOI: https://doi.org/10.1016/j.ifacol.2023.02.038