Lyapunov-based damping controller with nonlinear MPC control of payload position for a knuckle boom crane

DOI10.1016/J.AUTOMATICA.2022.110219MaRDI QIDQ2125503zbMATH OpenOpenAlexFDO

Authors Geir Ole Tysse, Andrej Cibicik, Lars Tingelstad, O. Egeland

Publication date 14 April 2022

Published in Automatica (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1016/j.automatica.2022.110219

zbMATH Keywords

nonlinear model predictive controlenergy-based controlcrane controlnonvanishing perturbation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Exponential stability (93D23) Model predictive control (93B45)

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Cites work

• scientific article; zbMATH DE number 2097552 (Why is no real title available?)
• scientific article; zbMATH DE number 961607 (Why is no real title available?)
• Adaptive input shaping for maneuvering flexible structures
• Adaptive repetitive learning control for an offshore boom crane
• CasADi: a software framework for nonlinear optimization and optimal control
• Constrained model predictive control: Stability and optimality
• Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs
• Modeling and Control of a Rotary Crane
• New class of control laws for robotic manipulators Part 1. Non–adaptive case
• Nonlinear control of a swinging pendulum
• Nonlinear systems.
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming

Cited in

(3)

• Digital Filter Based Motion Command Preconditioning of Time Varying Suspended Loads in Boom Cranes for Sway Suppression
• Non-linear model based control for a hydraulically actuated mobile harbour crane
• An improved neural networks-based vector control approach for permanent magnet linear synchronous motor

Describes a project that uses

Uses Software

• ros_control
• ROS
• CasADi
• Ipopt

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