Experimental Validation of Combined Nonlinear Optimal Control and Estimation of an Overhead Crane
نویسندگان
چکیده
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.
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تاریخ انتشار 2014