Optimal Manoeuvres of Underactuated Linear Mechanical Systems: The Case of Controlling Gantry Crane Operations

Optimal Manoeuvres of Underactuated Linear Mechanical Systems: The Case of Controlling Gantry Crane Operations

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A method of solving optimal manoeuvre control of linear underactuated mechanical ice blue graphic tee systems is presented.The nonintegrable constraints present in such systems are handled by adding dummy actuators and then by applying Lagrange multipliers to reduce their action to zero.The open- and closed-loop control schemes can be analyzed.

The method, referred to as the constrained modal space optimal control (CMSOC), is illustrated in the examples of gantry bempresas.com crane operations.