Application of modified model predictive control to a gantry system

Askari, M. and Mohamed, H.A.F. and Moghavvemi, M. and Yang, S.S. (2009) Application of modified model predictive control to a gantry system. In: ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, 18-21 August 2009, Fukuoka, Japan.

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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.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled 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
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 25 Mar 2014 08:09
Last Modified: 23 Nov 2017 02:25

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