Model Predictive Control of Gantry Crane with Input Nonlinearity Compensation
This paper proposed a nonlinear model predictive
control (MPC) method for the control of gantry crane. One of the main
motivations to apply MPC to control gantry crane is based on its
ability to handle control constraints for multivariable systems. A
pre-compensator is constructed to compensate the input nonlinearity
(nonsymmetric dead zone with saturation) by using its inverse
function. By well tuning the weighting function matrices, the control
system can properly compromise the control between crane position
and swing angle. The proposed control algorithm was implemented for
the control of gantry crane system in System Control Lab of University
of Technology, Sydney (UTS), and achieved desired experimental
results.
[1] E. Arnold, O. Sawodny, J. Neupert, and K. Schneider. Anti-sway system
for boom cranes based on a model predictive control approach. IEEE
International Conference on Mechatronics and Automation; Piscataway,
NJ, 3:1533--1538, 2005.
[2] Er-Wei Bai. Adaptive dead zone inverses for possibly nonlinear control
systems. In Gang Tao and Frank L. Lewis, editors, Adaptive Control of
Nonsmooth Dynamic Systems, pages 31--47. Springer, 2001.
[3] Alberto Bemporad, Manfred Morari, and N. Lawrence Ricker. Model
Predictive Control Toolbox. The MathWorks, Inc, 1994.
[4] C.E. Garcia, D.M. Prett, and M. Morari. Model predictive control:
Theory and practice-a survey. Automatica, 25:335--348, 1989.
[5] A. MacFarlane. Dynamical System Models. Harrap, London, 1970.
[6] L.F. Mendonc, J.M. Sousa, and J.M.G. Sa da Costa. Optimization
problems in multivariable fuzzy predictive control. Int. J. Approximate
Reasoning, 36:199--221, 2004.
[7] H.T. Nguyen. State-variable feedback controller for an overhead crane.
Journal of Electrical and Electronics Engineering, 14(2):75--84, 1994.
[8] H.M. Omar and A.H. Nayfeh. Gantry cranes gain scheduling feedback
control with friction compensation. Journal of Sound and Vibration,
281:1--20, 2005.
[9] A.J. Ridout. Anti-swing control of the overhead crane using linear
feedback. Journal of Electrical and Electronics Engineering,
9(1/2):17--26, 1989.
[10] A.J. Ridout. Variable damped control of the overhead crane. IECON
Proceedings, IEEE, Vol. 2, Los Alamitos, CA, pages 263--269, 1989.
[11] J.A. Rossiter. Model-based Predictive Control. CRC PRESS, London,
2003.
[12] Rastko R. Selmic and Frank L. Lewis. Deadzone compensation in motion
control systems using augmented multilayer neural networks. In Gang
Tao and Frank L. Lewis, editors, Adaptive Control of Nonsmooth
Dynamic Systems, pages 49--81. Springer, 2001.
[13] Gang Tao and Petar V. Kokotovic. Adaptive control of systems with
actuator and sensor nonlinearities. Wiley, New York, 1996.
[14] Jung Hua Yang and Kuang Shine Yang. Adaptive coupling control for
overhead crane systems. Mechatronics, 17(2-3):143--152, 2007.
[15] J. Yu, F.L. Lewis, and T. Huang. Nonlinear feedback control of a gantry
crane. Proc. American Control. Conf., Seattle, pages 4310--4315, June
1995.
[1] E. Arnold, O. Sawodny, J. Neupert, and K. Schneider. Anti-sway system
for boom cranes based on a model predictive control approach. IEEE
International Conference on Mechatronics and Automation; Piscataway,
NJ, 3:1533--1538, 2005.
[2] Er-Wei Bai. Adaptive dead zone inverses for possibly nonlinear control
systems. In Gang Tao and Frank L. Lewis, editors, Adaptive Control of
Nonsmooth Dynamic Systems, pages 31--47. Springer, 2001.
[3] Alberto Bemporad, Manfred Morari, and N. Lawrence Ricker. Model
Predictive Control Toolbox. The MathWorks, Inc, 1994.
[4] C.E. Garcia, D.M. Prett, and M. Morari. Model predictive control:
Theory and practice-a survey. Automatica, 25:335--348, 1989.
[5] A. MacFarlane. Dynamical System Models. Harrap, London, 1970.
[6] L.F. Mendonc, J.M. Sousa, and J.M.G. Sa da Costa. Optimization
problems in multivariable fuzzy predictive control. Int. J. Approximate
Reasoning, 36:199--221, 2004.
[7] H.T. Nguyen. State-variable feedback controller for an overhead crane.
Journal of Electrical and Electronics Engineering, 14(2):75--84, 1994.
[8] H.M. Omar and A.H. Nayfeh. Gantry cranes gain scheduling feedback
control with friction compensation. Journal of Sound and Vibration,
281:1--20, 2005.
[9] A.J. Ridout. Anti-swing control of the overhead crane using linear
feedback. Journal of Electrical and Electronics Engineering,
9(1/2):17--26, 1989.
[10] A.J. Ridout. Variable damped control of the overhead crane. IECON
Proceedings, IEEE, Vol. 2, Los Alamitos, CA, pages 263--269, 1989.
[11] J.A. Rossiter. Model-based Predictive Control. CRC PRESS, London,
2003.
[12] Rastko R. Selmic and Frank L. Lewis. Deadzone compensation in motion
control systems using augmented multilayer neural networks. In Gang
Tao and Frank L. Lewis, editors, Adaptive Control of Nonsmooth
Dynamic Systems, pages 49--81. Springer, 2001.
[13] Gang Tao and Petar V. Kokotovic. Adaptive control of systems with
actuator and sensor nonlinearities. Wiley, New York, 1996.
[14] Jung Hua Yang and Kuang Shine Yang. Adaptive coupling control for
overhead crane systems. Mechatronics, 17(2-3):143--152, 2007.
[15] J. Yu, F.L. Lewis, and T. Huang. Nonlinear feedback control of a gantry
crane. Proc. American Control. Conf., Seattle, pages 4310--4315, June
1995.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:53801", author = "Steven W. Su and Hung Nguyen and Rob Jarman and Joe Zhu and David Lowe and Peter McLean and Shoudong Huang and Nghia T. Nguyen and Russell Nicholson and Kaili Weng", title = "Model Predictive Control of Gantry Crane with Input Nonlinearity Compensation", abstract = "This paper proposed a nonlinear model predictive
control (MPC) method for the control of gantry crane. One of the main
motivations to apply MPC to control gantry crane is based on its
ability to handle control constraints for multivariable systems. A
pre-compensator is constructed to compensate the input nonlinearity
(nonsymmetric dead zone with saturation) by using its inverse
function. By well tuning the weighting function matrices, the control
system can properly compromise the control between crane position
and swing angle. The proposed control algorithm was implemented for
the control of gantry crane system in System Control Lab of University
of Technology, Sydney (UTS), and achieved desired experimental
results.", keywords = "Model Predictive Control, Control constraints, Input nonlinearity compensation, Overhead gantry crane.", volume = "3", number = "2", pages = "144-5", }