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

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

doi:10.1016/j.ifacol.2015.11.291

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 journal › Conference article › peer-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 language	English
Pages (from-to)	248-253
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	48
Issue number	23
DOIs	https://doi.org/10.1016/j.ifacol.2015.11.291
Publication status	Published - 2015
Event	5th IFAC Conference on Nonlinear Model Predictive Control (NMPC 2015) - Hotel NH Collection Sevilla, Seville, Spain Duration: 17 Sep 2015 → 20 Sep 2015 Conference number: 5 http://disa.us.es/nmpc15/

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title = "Stabilizing model predictive control of a gantry crane based on flexible set-membership constraints",

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.",

author = "Sandor Iles and M. Lazar and Fetah Kolonic and Matusko Jadranko",

year = "2015",

doi = "10.1016/j.ifacol.2015.11.291",

language = "English",

volume = "48",

pages = "248--253",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

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number = "23",

note = "5th IFAC Conference on Nonlinear Model Predictive Control (NMPC 2015), NMPC '15 ; Conference date: 17-09-2015 Through 20-09-2015",

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TY - JOUR

T1 - Stabilizing model predictive control of a gantry crane based on flexible set-membership constraints

AU - Iles, Sandor

AU - Lazar, M.

AU - Kolonic, Fetah

AU - Jadranko, Matusko

N1 - Conference code: 5

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

U2 - 10.1016/j.ifacol.2015.11.291

DO - 10.1016/j.ifacol.2015.11.291

M3 - Conference article

VL - 48

SP - 248

EP - 253

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 23

T2 - 5th IFAC Conference on Nonlinear Model Predictive Control (NMPC 2015)

Y2 - 17 September 2015 through 20 September 2015

ER -