Generalized Predictive Control of an overhead crane

The adaptive control of an overhead crane is developed based on Generalized Predictive Control (GPC) technique. The one-step ahead predictive control scheme is proposed for reducing the residual and transient oscillations of a payload suspended on a rope and transferred by a crane, with respect to the variation of rope length and mass of a payload. The recursive least square (RLS) algorithm is applied to real-time estimate parameters of discrete-time model of a crane dynamic system. Feasibility and applicability of the proposed control technique were confirmed during experiments carried out on the laboratory stand. The results of experiments are presented and compared with performances of the linear controllers-based scheme designed using pole placement method.