• Nguyen Trung Thanh Hung Yen University of Technology and Education
  • Nguyen Thi Thu Hang Hung Yen University of Technology and Education
Keywords: Nonlinear model predictive control, overhead crane, soften state constraints, cost function


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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How to Cite
Nguyen Trung Thanh, & Nguyen Thi Thu Hang. (2021). NONLINEAR MODEL PREDICTIVE CONTROL OF OVERHEAD CRANE WITH SOFTEN STATE CONSTRAINTS. UTEHY Journal of Science and Technology, 28, 13-18. Retrieved from