Stabilizing model predictive control of a gantry crane based on flexible set-membership constraints
| Autor: | Mircea Lazar, Matusko Jadranko, Sandor Iles, Fetah Kolonić |
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| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
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Engineering business.industry Computation Motion control Set (abstract data type) Keywords: Motion Control Distributed Model Predictive Control Stability and Recursive Feasibility Model predictive control Terminal (electronics) Control and Systems Engineering Control theory Convergence (routing) business Gantry crane |
| DOI: | 10.1016/j.ifacol.2015.11.291 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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