臂架起重机系统的约束控制
Constraint Control of a Boom Crane System
摘要：
悬臂起重机是最常用的起重机之一，以解除沉重的负荷。虽然机械上相当简单，但从控制的角度来看，这种起重机是一个非线性欠驱动系统，这带来了一些挑战，特别是当控制存在约束时。为了解决这个问题，我们提出了一种基于显式参考总督（ERG）的方法，它不需要任何在线优化，从而使其计算成本低廉。所提出的控制方案是能够引导起重机到所需的位置，确保尊重有限的关节范围，最大摆动角，并避免静态障碍物。
英文摘要：
Boom cranes are among the most used cranes to lift heavy loads. Although fairly simple mechanically, from the control viewpoint this kind of crane is a nonlinear underactuated system which presents several challenges, especially when con-trolled in the presence of constraints. To solve this problem, we propose an approach based on the Explicit Reference Governor (ERG), which does not require any online optimization, thus making it computationally inexpensive. The proposed control scheme is able to steer the crane to a desired position ensuring the respect of limited joint ranges, maximum oscillation angle, and the avoidance of static obstacles.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
