A novel anti-swing system design using MPC controller with guaranteed constraints

To work against the annoying waggle of a two-dimensional overhead crane system, this paper puts forward a novel model predictive control (MPC) strategy to satisfy various control constraints, particularly the maximum swing angle threshold. In order to simplify the model and satisfy the requirements of embedding application conveniently, the trolley acceleration is employed to be control input. In addition, several critical constraints and soft conditions are added into the MPC, aiming to insure the system stability and improve the overall performance. Simulation results justify the feasibility and correctness of the proposed method.