Flatness-based control structure for double-pendulum type bridge cranes

In this study, a controller combining flatness-based feedforward and model predictive control is proposed for the overhead crane with the double pendulum effect. This method handles effectively two main problems: tracking and payload vibration reduction. This approach not only takes advantage of flatness control to find suitable forces promptly but also uses MPC to satisfy many constraints of the system in real life. To demonstrate the robust effectiveness of the suggested control strategy against the crane system, the experimental results of this method are compared with conventional model predictive control.