Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane
Dynamical Systems
2024-03-26 v1
Abstract
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.
Keywords
Cite
@article{arxiv.2206.12350,
title = {Flatness Analysis for the Sampled-data Model of a Single Mast Stacker Crane},
author = {Johannes Diwold and Bernd Kolar and Markus Schöberl},
journal= {arXiv preprint arXiv:2206.12350},
year = {2024}
}