Name
Title | ||
|---|---|---|
Experimental validation of nonlinear MPC on an overhead crane using automatic code generation |
Abstract | ||
|---|---|---|
Recent advances in improving the efficiency of nonlinear model predictive control (MPC) algorithms have made them suited for challenging mechatronic applications that require high sampling rates. We demonstrate this fact by applying a highly efficient nonlinear MPC algorithm to a laboratory-scale overhead crane setup, featuring a fast moving cart and a winch mechanism. The aim is to perform optimized point-to-point motions with varying line length while respecting actuator limits. In order to solve the resulting optimization problems in less than one millisecond, an automatically generated Gauss-Newton real-time iteration algorithm is employed. We show experimental results illustrating the control performance of the closed-loop system as well as the efficiency of the nonlinear MPC algorithm. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ACC.2012.6315390 | American Control Conference |
Keywords | Field | DocType |
Gaussian processes,actuators,closed loop systems,control engineering computing,cranes,iterative methods,mechatronics,nonlinear control systems,optimisation,predictive control,program compilers,sampling methods,winches,MPC algorithms,actuator limits,automatic code generation,automatically generated Gauss-Newton real-time iteration algorithm,closed-loop system,control performance,experimental validation,fast moving cart,laboratory-scale overhead crane setup,mechatronic applications,nonlinear MPC algorithm,nonlinear model predictive control algorithms,optimization problems,optimized point-to-point motions,sampling rates,varying line length,winch mechanism | Optimal control,Nonlinear system,Control theory,Overhead crane,Iterative method,Computer science,Model predictive control,Code generation,Control engineering,Optimization problem,Actuator | Conference |
ISSN | ISBN | Citations |
0743-1619 E-ISBN : 978-1-4673-2102-0 | 978-1-4673-2102-0 | 10 |
PageRank | References | Authors |
0.81 | 6 | 7 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Milan Vukov | 1 | 15 | 1.79 |
| Wannes Van Loock | 2 | 35 | 2.80 |
| Boris Houska | 3 | 214 | 26.14 |
| Hans Joachim Ferreau | 4 | 266 | 17.65 |
| Jan Swevers | 5 | 709 | 82.49 |
| Moritz Diehl | 6 | 1343 | 134.37 |
| Wannes Van Loock | 7 | 47 | 5.42 |