EnsembleControlCran​e.zip

Example of ensemble control using an overhead crane model

This is an example of ensemble control on an overhead crane. Attached are m-files that will calculate the input to steer the ensemble of cranes with uncertain cable length from a certain initial configuration to any desired final configuration, using the open-loop ensemble control framework. The position and speed of the cart and the angle and angular speeds of the pendulums (representing the crane loads) are used as states. The length of the pendulums is uncertain but bounded.
Also attached are 2 m-files that are able to create and replay a movie of the simulated crane in action, to give the user a better understanding of the dynamics of the crane.