Geometry and flatness of m-crane systems

Abstract

We propose a class of m-crane control systems, that generalizes two- and three-dimensional crane systems. We prove that each representant of the described class is feedback equivalent to the second order chained form with drift. In consequence, we prove that it is differentially flat. Then we investigate its control properties and derive a control law for tracking control problem.

Keywords

• differential flatness
• crane
• chained systems
• feedback equivalence
• accessibility
• nonlinear control