Title :
Application of constrained predictive control on a 3D crane system
Author :
Deng, Jiamei ; Becerra, Victor M.
Author_Institution :
Dept. of Cybern., Reading Univ., UK
Abstract :
This paper describes the SIMULINK implementation of a constrained predictive control algorithm based on quadratic programming and linear state space models, and its application to a laboratory-scale 3D crane system. The algorithm is compatible with Real Time Windows Target and, in the case of the crane system, it can be executed with a sampling period of 0.01 s and a prediction horizon of up to 300 samples, using a linear state space model with 3 inputs, 5 outputs and 13 states.
Keywords :
MIMO systems; control engineering computing; cranes; digital simulation; multidimensional systems; predictive control; quadratic programming; state-space methods; Real Time Windows Target; SIMULINK implementation; constrained predictive control; laboratory-scale 3D crane system; linear state space models; quadratic programming; Cost function; Cranes; Cybernetics; Laboratories; Payloads; Prediction algorithms; Predictive control; Predictive models; State-space methods; Vectors;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438985
