NONLINEAR MODEL PREDICTIVE CONTROL OF OVERHEAD CRANE WITH SOFTEN STATE CONSTRAINTS
The paper presents the predictive control method with soft state constraints to increase the optimization of the nonlinear system. The method applied to a unactuated system as the crane system for precise position control and load anti-swing. Simulation results on Matlab is compared to PID control methods and have demonstrated the effectiveness of the method for multiple input - multiple output nonlinear systems.
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