Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Construction or agricultural-type vehicle
Reexamination Certificate
2011-06-28
2011-06-28
Tran, Dalena (Department: 3664)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Construction or agricultural-type vehicle
C340S685000
Reexamination Certificate
active
07970521
ABSTRACT:
Disclosed are algorithms for controlling multiple states of a dynamic system, such as controlling positioning and cable sway in cranes. Exemplary apparatus and methods may be implemented using first and second serially coupled feedback loops coupled to a plant and payload that are to be controlled. The first feedback loop comprises a first control module. It generates a filtered actuator command from an error signal derived from a signal representing a desired system state and a feedback signal indicative of the actual system state. The generated signal is operative to position the payload. The second feedback loop comprises a second control module that generates a second actuator command that is operative to cause the plant to have an output of zero, to eliminate disturbance-induced oscillations. Input shaping may be employed in the first loop for eliminating motion-induced oscillations. The first control module is used for precise payload positioning, and the second control module is used to reject disturbance-induced oscillations. A model reference loop may be employed that outputs a modeled response that is an estimate of the response of the plant in the absence of external disturbances, and which may be used to generate a second actuator command for causing the plant to follow the modeled response.
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Dickerson Stephen
Singhose William
Sorensen Khalid Lief
Georgia Tech Research Corporation
Thomas Kayden Horstemeyer & Risley LLP
Tran Dalena
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