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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2022
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2206.12350 |
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| _version_ | 1866911810976743424 |
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| author | Diwold, Johannes Kolar, Bernd Schöberl, Markus |
| author_facet | Diwold, Johannes Kolar, Bernd Schöberl, Markus |
| contents | We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformation of a subsystem into the linear time-variant discrete-time controller canonical form. Based on the derived flat output, which is also a function of backward-shifts of the system variables, we discuss the planning of trajectories to achieve a transition between two rest positions and compute the corresponding discrete-time feedforward control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2206_12350 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane Diwold, Johannes Kolar, Bernd Schöberl, Markus Dynamical Systems We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformation of a subsystem into the linear time-variant discrete-time controller canonical form. Based on the derived flat output, which is also a function of backward-shifts of the system variables, we discuss the planning of trajectories to achieve a transition between two rest positions and compute the corresponding discrete-time feedforward control. |
| title | Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane |
| topic | Dynamical Systems |
| url | https://arxiv.org/abs/2206.12350 |