Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane
Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane
复制标题
桥式起重机组合非线性最优控制和估计的实验验证
DOI：
10.3182/20140824-6-za-1003.01674
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
J. Swevers
中科院分区：
文献类型：
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作者：
Frederik Debrouwere;M. Vukov;R. Quirynen;M. Diehl;M. Diehl;J. Swevers
摘要：本文验证了非线性模型预测控制与运动水平估计相结合对桥式起重机的最优控制。通过使用自动代码生成，实现了这种执行时间远低于采样时间的组合最优控制和估计方法的实时实现。实验结果表明，该方法具有良好的点对点性能，具有良好的抗干扰性和伺服跟踪性能。
Abstract This paper validates the combination of nonlinear model predictive control and moving horizon estimation to optimally control an overhead crane. Real-time implementation of this combined optimal control and estimation approach with execution times far below the sampling time was realized through the use of automatic code generation. Besides experiments that reflect good point-to-point performance, the approach showed to be good in disturbance rejection as well as in servo-tracking.