2020 4th International Conference on Automation, Control and Robots (ICACR) 2020
DOI: 10.1109/icacr51161.2020.9265504
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Flatness-Based Feedforward Control of a Stacker Crane with Online Trajectory Generation

Abstract: Flatness-based feedforward control is an approach for combining fast motion with low oscillations for nonlinear or flexible drive systems. Its desired trajectories must be continuously differentiable to the degree of the system order. Designing such trajectories, that also reach the dynamic system limits, poses a challenge. Common solutions, like Gevrey functions, usually require lengthy offline calculations. To achieve a quicker and simpler industrial-suited solution, this paper presents a new online trajecto… Show more

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