Experimental validation of time optimal MPC on a flexible motion system

This paper discusses the application and experimental validation of time-optimal model predictive control (TOMPC) on a flexible motion system, an overhead crane with fixed cable length. TOMPC realizes minimal settling times for point-to-point motions taking into account system constraints. Results of several different point-to-point motion experiments and of disturbance rejection experiments clearly demonstrate this time optimal behavior. The extension of the TOMPC algorithm to increase its feasibility range required for large point-to-point motions is discussed and validated.