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Vibration Mitigation in Positioning Control of a Slung Load Using Approximate Flat Output Based on Inverse Gudermannian | IEEE Conference Publication | IEEE Xplore

Vibration Mitigation in Positioning Control of a Slung Load Using Approximate Flat Output Based on Inverse Gudermannian


Abstract:

This paper presents vibration-free positioning control of a slung load which is horizontally driven by a linear actuator. Since the system is underactuated and is not dif...Show More

Abstract:

This paper presents vibration-free positioning control of a slung load which is horizontally driven by a linear actuator. Since the system is underactuated and is not differentially flat, an approximate flat output is analytically derived instead, based on the characterization of flat output using the Brunovsky canonical form. The approximate flat output is a function of the inverse Gudermannian and is used to generate the vibration-free control input for the linear actuator. The approximate flat output based controller mitigates the residual vibration in positioning slung load better than that of flat output for the linear approximation. The advantages are verified both in numerical simulations and experiments.
Date of Conference: 26-30 August 2023
Date Added to IEEE Xplore: 28 September 2023
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Conference Location: Auckland, New Zealand

References

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