Nonlinear Model Predictive Control of a 5-DoFs Boom Crane

The goal of this paper is to present a nonlinear Model Predictive Control scheme for boom cranes, one of the most common type of rotary cranes. In this paper we first present a complete mathematical model for this type of cranes where it is possible to control the two rotations of the crane and the cable length. Then, we design a Model Predictive Control law able to drive the load to a desired position while fulfilling mechanical and safety constraints. We finally compare our controller to a partial feedback linearization coupled with a proportional derivative control with gravity compensation applied to the same model.