Identification and feed forward control of a flexible stacker crane

Minoru Sasaki; Takahiro Murota

doi:10.1117/12.859299

22 January 2010 Identification and feed forward control of a flexible stacker crane

Minoru Sasaki, Takahiro Murota

Proceedings Volume 7500, ICMIT 2009: Mechatronics and Information Technology; 75000F (2010) https://doi.org/10.1117/12.859299
Event: ICMIT 2009: Mechatronics and Information Technology, 2009, Gwangju, Korea, Republic of

Abstract

This paper demonstrates that filtered inverse system can be used effectively for the feed forward control of a flexible stacker crane. A numeric model for the crane is developed from the experimental input and output data. From this model, a feedfoward controller based on an inverse system was developed and simulated. We applied the feedforward control to an actual stacker crane. Validity of the proposed control method was verified from the numerical simulation and the experiment. The numerical simulation and experimental results show the good control performance.

Citation Download Citation

Minoru Sasaki and Takahiro Murota "Identification and feed forward control of a flexible stacker crane", Proc. SPIE 7500, ICMIT 2009: Mechatronics and Information Technology, 75000F (22 January 2010); https://doi.org/10.1117/12.859299

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