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Real-time predictive control of 3D tower crane (CROSBI ID 611415)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Ileš, Šandor ; Matuško, Jadranko ; Kolonić, Fetah Real-time predictive control of 3D tower crane // Proceedings of the 23rd IEEE International Symposium on Industrial Electronics, ISIE 2014. Lahti, 2014. str. 224-230

Podaci o odgovornosti

Ileš, Šandor ; Matuško, Jadranko ; Kolonić, Fetah

engleski

Real-time predictive control of 3D tower crane

In this paper a real-time Model Predictive Control (MPC) for a 3D tower crane, based on subsequent solving of three quadratic programs, is proposed. Three motions of the tower crane are considered as separate subsystems with couplings among them treated as a change in system parameters. Such linear parameter varying (LPV) system can be sampled and transformed into the corresponding polytopic model, by using a Tensor Product (TP) Model Transformation. Polytopic TP model of the tower crane is used to calculate the terminal set and the terminal cost via solving Linear Matrix Inequalities (LMI). In order to guarantee recursive feasibility, system states are kept in ellipsoidal approximation of worst case initial feasible set, while the asymptotic stability is ensured by using a dual-mode MPC strategy. The proposed approach is verified through simulation and experimental test on laboratory model of a 3D tower crane.

3d tower crane; model predictive control; tensor product model transformation; control system stability; LPV systems

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Podaci o prilogu

224-230.

2014.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 23rd IEEE International Symposium on Industrial Electronics, ISIE 2014

Lahti:

978-1-4799-2398-4

Podaci o skupu

23rd IEEE International Symposium on Industrial Electronics, ISIE 2014

predavanje

01.06.2014-04.06.2014

Istanbul, Turska

Povezanost rada

Elektrotehnika