Nonlinear optimal control for the 4-DOF underactuated robotic tower crane

Abstract Tower cranes find wide use in construction works, ports and several loading unloading procedures met industry. A nonlinear optimal control approach is proposed for the dynamic model of 4-DOF underactuated tower crane. The robotic crane undergoes approximate linearization around a temporary operating point that recomputed at each time-step method. relies on Taylor series expansion associated Jacobian matrices. For linearized state-space system stabilizing (H-infinity) feedback controller designed. To compute controller’s gains an algebraic Riccati equation repetitively solved iteration algorithm. stability properties method are proven through Lyapunov analysis. advantageous because: (i) unlike popular computed torque manipulators, new characterized by optimality also applicable when number inputs not equal to robot’s DOFs, (ii) it achieves fast accurate tracking reference setpoints under minimal energy consumption actuators, (iii) Nonlinear Model Predictive Control method, article’s scheme global convergence optimum.