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The paper focuses on multivariable generalized predictive control (GPC) of an underactuated overhead crane with constraints on manipulated variable and sway angle of a payload. The adaptive control scheme is developed based on the discrete-time linear parameter varying model of a crane dynamic identified using the recursive least square (RLS) algorithm with parameter projection. Particle swarm optimization...
The transient and residual vibrations in flexible underactuated mechatronic systems adversely affect the effectiveness and accuracy of performed tasks and movements. Moreover, in the case of crane operation the transient underactuated payload swing may present a safety hazard. In this paper, a novel control approach based on a multivariable model predictive control and a particle swarm optimizer is...
The paper focuses on comparing the model predictive control, feedback controller and input shaping control for a laboratory scaled overhead traveling crane. The adaptive control of an overhead crane is developed based on the Generalized Predictive Control (GPC) procedure. Particle swarm optimization is applied to solve the optimal constrained control problem. The recursive least square (RLS) algorithm...
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