AN IMPROVED APPROACH FOR MODEL PREDICTIVE CONTROL IN 3-D OVERHEAD CRANE SYSTEMS

Abstract

The Model Predictive Control (MPC) for the 3-D overhead crane (3DOC)
system is the main subject of this paper. The crane's underactuated system
necessitates a complex controller design. In this paper, the MPC was used to
handle the problem of automatic load transportation. With this method, the
system can meet many complicated requirements due to the high nonlinear
dynamics of overhead cranes, such as anti-vibration, accurate position, and
satisfy dynamics constraints in real life. According to the results of our tests, MPC
is successfully applied to cranes and many transportation systems similarly.