A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is
A novel control algorithm combining the linear quadratic regulator (LQR) control and trajectory planning (TP) is proposed for the control of an underactuated crane system, targeting position adjustment and swing suppression. The TP is employed to control the swing angle within certain constraints, and the LQR is applied to achieve anti-disturbance. In order to improve the accuracy of the position control, a differential-integral control loop is applied. The weighted LQR matrices representingdoi:10.3390/app8030473 fatcat:ljyjrz6jqbhhnc6n5pf7mkcs4q