Application of modified model predictive control to a gantry system

Author

Askari, Masood ; Mohamed, Haider A F ; Moghavvemi, M. ; Yang, S.S.

Author_Institution

Centre for Res. in Appl. Electron. (CRAE), Univ. of Malaya, Kuala Lumpur, Malaysia

fYear

2009

fDate

18-21 Aug. 2009

Firstpage

3771

Lastpage

3774

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

compensation; control system synthesis; cranes; feedback; friction; linearisation techniques; nonlinear control systems; nonlinear dynamical systems; optimal control; position control; predictive control; controller design; experimental rotary gantry crane system; fast antiswaying; feedback linearization method; friction compensator; model predictive control; nonlinear dynamics; operation requirement; optimal control; precise positioning; sway reduction; Cranes; Electronic mail; Friction; Linear systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control; Payloads; Predictive control; Predictive models; Friction compensation; Model predictive control;

fLanguage

English

Publisher

ieee

Conference_Titel

ICCAS-SICE, 2009

Conference_Location

Fukuoka

Print_ISBN

978-4-907764-34-0

Electronic_ISBN

978-4-907764-33-3

Type

conf

Filename

5334318