Modeling and Nonlinear Control of Gantry Crane Using Feedback Linearization Method
نویسنده
چکیده
gantry crane system becomes an interesting issue in the field of control technology development. In this paper, dynamic model of gantry crane is extracted using Lagrange method. This model has been linearized and weaknesses of state feedback control of this model is reviewed. To solve these problems, state feedback gain matrix is calculated using LQR method and results are fully investigated. Finally, a full nonlinear solution of problem using feedback linearization method is implemented and results are compared with previous works.
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ورودعنوان ژورنال:
- CoRR
دوره abs/1405.5926 شماره
صفحات -
تاریخ انتشار 2014