Stabilizing Model Predictive Control of a Gantry Crane Based on Flexible Set-Membership Constraints (CROSBI ID 627440)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Ileš, Šandor ; Lazar, Mircea ; Kolonić, Fetah ; Matuško, Jadranko
engleski
Stabilizing Model Predictive Control of a Gantry Crane Based on Flexible Set-Membership Constraints
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.
Keywords: Motion Control; Distributed Model Predictive Control; Stability and Recursive Feasibility
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Podaci o prilogu
248-253.
2015.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of 5th IFAC Conference on Nonlinear Model Predictive Control
Podaci o skupu
5th IFAC Conference on Nonlinear Model Predictive Control 2015 (NMPC'15)
poster
17.09.2015-20.09.2015
Sevilla, Španjolska