Related papers: Invariant-based inverse engineering of crane contr…
We set a shortcut-to-adiabaticity strategy to design the trolley motion in a double-pendulum bridge crane. The trajectories found guarantee payload transport without residual excitation regardless of the initial conditions within the small…
Invariant-based inverse engineering is an elegant approach to quantum control with corresponding experimental implementations that perform tasks with applications in quantum information processing such as shuttling trapped ions. We build on…
This paper focuses on the development of minimum time control profiles for point-to-point motion of a gantry crane system in the presence of uncertainties in modal parameters. Assuming that the velocity of the trolley of the crane can be…
We investigate the performance of different control techniques for ion transport in state-of-the-art segmented miniaturized ion traps. We employ numerical optimization of classical trajectories and quantum wavepacket propagation as well as…
We study the shuttling of an atom in a trap with controllable position and frequency. Using invariant-based inverse engineering, protocols in which the trap is simultaneously displaced and expanded are proposed to speed up transport between…
Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…
We investigate the effect of slow spring-constant drifts of the trap used to shuttle two ions of different mass. We design transport protocols to suppress or mitigate the final excitation energy by applying invariant-based inverse…
We design optimal trajectories to transport cold atoms in anharmonic traps, combining invariant-based inverse engineering, perturbation theory, and optimal control theory. The anharmonic perturbation energy is minimized constraining the…
We design optimal harmonic-trap trajectories to transport cold atoms without final excitation, combining an inverse engineering techniqe based on Lewis-Riesenfeld invariants with optimal control theory. Since actual traps are not really…
In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopted approach is based on the sliding mode method to confer…
This study proposes a fuzzy-adjusted nonlinear control method based on torque jitter output limit constraints for overhead crane systems with double pendulum effects. The proposed control method can effectively suppress swing and achieve…
Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of…
We inverse engineer fast rotations of a linear trap with two ions for a predetermined rotation angle and time, avoiding final excitation. Different approaches are analyzed and compared when the ions are of the same species or of different…
This paper studies the container lifting phase of a waste-container recycling task in urban environments, performed by a hydraulic loader crane equipped with an underactuated discharge unit, and proposes a residual reinforcement learning…
The paper investigates the asymptotic behavior of a 2D overhead crane with input delays in the boundary control. A linear boundary control is proposed. The main feature of such a control lies in the facts that it solely depends on the…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
We propose a new driving scheme, when different parts of a system are driven with different, generally incommensurate, frequencies. Such driving provides a flexible handle to control various properties of the system and to obtain new types…
Energy transport can reveal information about interacting many-body systems beyond other transport probes. In particular, in one dimension it has been shown that the energy current is directly proportional to the central charge, thus…
The present study proposes a novel collaborative traffic engineering scheme for networks of autonomous systems. Backpressure routing principles are used for deriving priority routing rules that optimally stabilize a network, while…