Control of a Reduced Size Model of US Navy Crane Using Only Motor Position Sensors

Two control problems related to a particular underactuated mechanical system, the reduced size US Navy crane, are addressed. The open-loop motion planning problem is solved by showing that the model of the crane is differentially flat with a flat output comprising the coordinates of the load as its first components. The closed-loop global asymptotic stabilization of equilibria is achieved using an output feedback regulator of proportional-derivative type. The extension of this approach to tracking is analyzed based on simulation results.

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