Predictive Control of Underdriven Gantry Cranes Based on High-Order Fully Actuated System

The gantry crane system has a high degree of underdrive as well as nonlinear characteristics, and at the same time is susceptible to external disturbances. To address the above problems, this paper proposes a gantry crane control method based on the highorder fully actuated (HOFA) system, which realizes the positioning of the trolley and the swing suppression of the payload. Firstly, the HOFA model of the gantry crane is established based on the theory of HOFA system. Then, a disturbance observer is designed to observe the unknown dynamics of the system as well as external disturbances and input them into the model predictive controller. Finally, the constraints on the crane actuated state (trolley speed) and unactuated state (payload swing angle) are realized based on the model predictive control(MPC) controller. Simulation experiments show that the proposed method has better performance than the existing methods, and the constraints on the state can be realized at the same time.