Model predictive control of an overhead crane using constraint substitution
Konferenzveröffentlichung
Autoren
Käpernick, Bartosz
Graichen, Knut
Fakultäten
Fakultät für Ingenieurwissenschaften und InformatikPeer-Review
ja
Zusammenfassung
This paper describes a real-time model predictive control (MPC) scheme for an overhead crane subject to state and input constraints. The constraints are taken into account by means of a transformation technique which transforms the system dynamics with the corresponding constraints into a new unconstrained representation. This method allows to reformulate the underlying optimal control problem (OCP)
of the MPC scheme into an unconstrained counterpart. The unconstrained OCP is then solved by means of a fast MPC algorithm that uses a finite number of iterations per MPC step in order to ensure real-time feasibility. Simulation as well as experimental results demonstrate the computational
performance of the MPC scheme.
Erstellung / Fertigstellung
2013
Originalpublikation
Proceedings of the 2013 American Control Conferencehttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6580447
Normierte Schlagwörter
Prädiktive Regelung [GND]Predictive control [LCSH]
Schlagwörter
Constraints; Model predictive controlDDC-Sachgruppe
DDC 004 / Data processing & computer scienceMetadata
Zur LanganzeigeZitiervorlage
Käpernick, Bartosz; Graichen, Knut (2014): Model predictive control of an overhead crane using constraint substitution. Open Access Repositorium der Universität Ulm. http://dx.doi.org/10.18725/OPARU-3201