Application of constrained predictive control on a 3D crane system

Deng, J. M. and Becerra, V. M. (2004) Application of constrained predictive control on a 3D crane system. In: 2004 IEEE Conference on Robotics, Automation and Mechatronics, Vols 1 and 2. Ieee, New York, pp. 583-587. ISBN 0780386450

Abstract/Summary

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.