Optimal Control of 5GDL Subactuated Tower Crane
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13711Keywords:
Optimal control theory, Robust control, Predictive control, Robustness analysis, Modeling, Automatic control, Application of nonlinear analysis and designAbstract
This work consists of modelling from scratch a tower crane with five degrees of freedom, which is underactuated, from both a kinematic and dynamic perspective. In addition, a parametric trajectory generator has been developed depending on the type of trajectory wished, the duration of the movement or the precision of it. The dynamic model has been obtained from the formulation of Euler-Lagrange that later has been used as the real system in the simulations. The model has been made lineal by Jacobians, directed to the extraction of the state space of the system, and therefore focused on MIMO control. From the simplification, the controls that have been tuned LQR and MPC types, that solve optimally the values of the control signals depending on the weighs applied. These controls have been tested in trajectory pursuit, disturbance rejection and robustness analysis.
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Copyright (c) 2026 Alejandro Noci, Francisco R. Rubio
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