Model Predictive Control of Gantry Crane with Input Nonlinearity Compensation

Publisher:
World Academy of Science, Engineering and Technology
Publication Type:
Conference Proceeding
Citation:
International Conference on Control, Automation and Systems Engineering, 2009, pp. 312 - 316
Issue Date:
2009-01
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This paper proposed a nonlinear model predictive control (MPC) method for the control of gantry crane. One of the main motivations to apply MPC to control gantry crane is based on its ability to handle control constraints for multivariable systems. A pre-compensator is constructed to compensate the input nonlinearity (nonsymmetric dead zone with saturation) by using its inverse function. By well tuning the weighting function matrices, the control system can properly compromise the control between crane position and swing angle. The proposed control algorithm was implemented for the control of gantry crane system in System Control Lab of University of Technology, Sydney (UTS), and achieved desired experimental results.
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