Application of modified model predictive control to a gantry system
Document Type
Conference Item
Publication Date
8-1-2009
Abstract
This paper considers in particular the design of a controller based on model predictive control and feedback linearization methods for gantry systems. In order to meet the operation requirements of fast anti-swaying and precise positioning of gantry crane systems, a practical optimal control scheme is presented. This controller is designed to guarantee the performance in presence of a class of nonlinear dynamics. The controller is implemented on an experimental rotary gantry system. The controller achieves good positioning accuracy and significant sway reduction.
Keywords
Friction compensation, Model predictive control, Feedback linearization methods, Friction compensation, Gantry system, Modified model, Non-linear dynamics, Optimal control scheme, Positioning accuracy, Precise positioning, Predictive control
Divisions
fac_eng
Event Title
ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Event Location
Fukuoka, Japan
Event Dates
18-21 August 2009
Event Type
conference