A Flatness Based Approach to Trajectory Modification of Residual Motion of Cable Transporter Systems

As high-rise buildings continue to grow, the design and control of elevators to transport passengers safely, quickly, and comfortably still remains a challenging problem. An important issue in ‘elevatoring’ is to transport passengers with minimal residual motion once the elevator has reached its destination floor. A simple and elegant solution of the residual motion control problem can be given using the theory of δ-flatness. First, we present modeling and residual motion control with non-negative inputs of a cable transporter system, consisting of a rigid body (the object) connected by two flexible ropes. Then, we present results for a special case of the general transporter problem, the residual motion control of elevator. A laboratory scale experimental demonstration of the residual motion control is also presented in this paper.

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