Swing Suppression and Accurate Positioning Control for Overhead Cranes Based on Preview Predictive Functional Control

In view of the problems of safety and rapidity in the anti-swing control of overhead cranes, a novel predictive control technique is presented founded on the concept of preview control. For the established model of an overhead crane, a preview controller is designed using linear quadratic regulator principle. And then, the output prediction in the predictive functional control is corrected by the feedforward compensation term of the preview control. The simulation results show that the designed controller not only makes the system have fast response, but also has strong robustness to uncertainties.