Stabilizing model predictive control of a gantry crane based on flexible set-membership constraints

Sandor Iles, M. Lazar, Fetah Kolonic, Matusko Jadranko

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

This paper presents a stabilizing distributed model predictive control of a gantry crane taking into account the variation of cable length. The proposed algorithm is based on the off-line computation of a sequence of 1-step controllable sets and a condition that enables flexible convergence towards a suitably chosen terminal set. The crane is modeled as a two dynamically coupled subsystems where the coupling among them is treated as a variation in the system parameters. In this way the model is converted to a polytopic linear parameter varying model which is used to calculate the terminal set and 1-step controllable sets. The proposed approach is verified through simulation and experimental test on the laboratory model.
Original languageEnglish
Pages (from-to)248-253
Number of pages6
JournalIFAC-PapersOnLine
Volume48
Issue number23
DOIs
Publication statusPublished - 2015
Event5th IFAC Conference on Nonlinear Model Predictive Control (NMPC 2015) - Hotel NH Collection Sevilla, Seville, Spain
Duration: 17 Sep 201520 Sep 2015
Conference number: 5
http://disa.us.es/nmpc15/

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