Application of modified model predictive control to a gantry system
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...
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Main Authors: | , , , |
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Format: | Conference or Workshop Item |
Published: |
2009
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Subjects: | |
Online Access: | http://eprints.um.edu.my/9716/ |
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Summary: | 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. |
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