Explicit GPC control applied to an approximated linearized crane system
type: Item
instance of: scholarly article
title: Explicit GPC control applied to an approximated linearized crane system
zbMATH Open document ID: 1416.93140
DOI: 10.1155/2019/3612634
author: Daniel Guerra Vale da Fonseca
author: André Felipe O. de A. Dantas
author: André Laurindo Maitelli
author: Umer Hameed Shah
author: Carlos Eduardo T. Dórea
published in: Journal of Control Science and Engineering
publication date: 2019-06-26T00:00:00Z
review text: Summary: This paper proposes a MIMO explicit generalized predictive control (EGPC) for minimizing payload oscillation of a gantry crane system subject to input and output constraints. In order to control the crane system efficiently, the traditional GPC formulation, based on online quadratic programming (QP), is rewritten as a multiparametric quadratic programming problem (mp-QP). An explicit piecewise affine (PWA) control law is obtained and holds the same performance as online QP. To test effectiveness, the proposed method is compared with two GPC formulations: one that handle constraints (CGPC) and another that does not handle constraints (UGPC). Results show that both EGPC and CGPC have better performance, reducing the payload swing when compared to UGPC. Also both EGPC and CGPC are able to control the system without constraint violation. When comparing EGPC to CGPC, the first is able to calculate (during time step) the control action faster than the second. The simulations prove that the overall performance of EGPC is superior to the other used formulations.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93B40
Mathematics Subject Classification ID: 93C35
Mathematics Subject Classification ID: 90C20
zbMATH DE Number: 7073712
zbMATH Keywords: MIMO generalized predictive control
zbMATH Keywords: gantry crane system
zbMATH Keywords: online quadratic programming
describes a project that uses: MPT
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2019/3612634
OpenAlex ID: W2914134480
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Wikidata QID: Q128445428
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description: scientific article; zbMATH DE number 7073712