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 |
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Pages (from-to) | 248-253 |
Number of pages | 6 |
Journal | IFAC-PapersOnLine |
Volume | 48 |
Issue number | 23 |
DOIs | |
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/ |