A new tracking control approach for 3D overhead crane systems using model predictive control

摘要

Automatic load transportation using overhead crane systems requires accurate and high speed load positioning with small load swing during the whole crane operation for high efficiency and safety. However, it has always been a challenging task to meet all these requirements due to high nonlinear dynamics of overhead cranes. Therefore, in this paper, we present a new tracking control approach for three-dimensional (3D) overhead crane systems based on model predictive control. Our proposed control approach provides simple control system design yet effective with high performance by considering crane actuators as the main system to be controlled. The crane nonlinearities are incorporated in the control system as known disturbances using the idea of computed torque control. The proposed control system is then evaluated on an experimental 3D overhead crane.