Coordinated motion of a hydraulic forestry crane and a vehicle using nonlinear model predictive control

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• 作者：Jouko Kalmari^a ; ^{jouko.kalmari@aalto.fi} ; Juha Backman^b ; ^{juha.backman@luke.fi} ; Arto Visala^a ; ^{arto.visala@aalto.fi}
• 关键词：Model predictive control ; Mobile manipulator ; Path tracking ; Hydraulic systems
• 刊名：Computers and Electronics in Agriculture
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：133
• 期：Complete
• 页码：119-127
• 全文大小：1003 K
• 卷排序：133

文摘

Coordinated control of a hydraulic forestry crane and a vehicle platform is proposed. The vehicle follows a given path and the crane a time based trajectory. Path and trajectory tracking is based on nonlinear model predictive control. Average tracking error of the vehicle was 6.7–36.2 cm and boom tip 3.7–13.6 cm.