Minimum time control of a gantry crane system with rate constraints

This paper focuses on the development of minimum time control profiles for point-to-point motion a gantry crane system in presence uncertainties modal parameters. Assuming that velocity trolley can be commanded and is subject to limits, an optimal problem posed determine bang-off-bang profile transition from point rest terminal states with no residual vibrations. Both undamped underdamped systems are considered variation structure as function final displacement studied. As magnitude rigid body increased, collapse birthing switches observed explained. Robustness parameters accounted by forcing state sensitivities at zero. The observation time-optimal merges robust noted specific displacements migration zeros time-delay filter parameterizing used explain this counter intuitive result. comparison proposed controller, acceleration constrained analyzed which expected demands larger maneuver time. A two degree freedom experimentally validate observations numerical studies tradeoff increase reduction vibrations illustrated.