Explicit GPC Control Applied to an Approximated Linearized Crane System
Joint Authors
Fonseca, Daniel Guerra Vale da
Dantas, André Felipe O. de A.
Dórea, Carlos Eduardo Trabuco
Maitelli, André Laurindo
Source
Journal of Control Science and Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-03
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
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.
American Psychological Association (APA)
Fonseca, Daniel Guerra Vale da& Dantas, André Felipe O. de A.& Dórea, Carlos Eduardo Trabuco& Maitelli, André Laurindo. 2019. Explicit GPC Control Applied to an Approximated Linearized Crane System. Journal of Control Science and Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1172465
Modern Language Association (MLA)
Fonseca, Daniel Guerra Vale da…[et al.]. Explicit GPC Control Applied to an Approximated Linearized Crane System. Journal of Control Science and Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1172465
American Medical Association (AMA)
Fonseca, Daniel Guerra Vale da& Dantas, André Felipe O. de A.& Dórea, Carlos Eduardo Trabuco& Maitelli, André Laurindo. Explicit GPC Control Applied to an Approximated Linearized Crane System. Journal of Control Science and Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1172465
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1172465