Application of constrained predictive control on a 3D crane system

J. M. Deng, V. M. Becerra

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    This paper describes the SIMULINK implementation of a constrained predictive control algorithm based on quadratic programming and linear state space models, and its application to a laboratory-scale 3D crane system. The algorithm is compatible with Real Time. Windows Target and, in the case of the crane system, it can be executed with a sampling period of 0.01 s and a prediction horizon of up to 300 samples, using a linear state space model with 3 inputs, 5 outputs and 13 states.
    Original languageEnglish
    Title of host publication2004 IEEE Conference on Robotics, Automation and Mechatronics
    Place of PublicationNew York
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    ISBN (Print)0780386450
    Publication statusPublished - 2004


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