Non-linear predictive controller for Gantry Crane
This repo contains a matlab implementation of a non-linear predictive controller for a gantry crane.
The goal is to move the gantry crane from point A to point B without touching any of the obstacles (see fig. here below), while minimizing the energy used by the crane's motors.
Repo Structure
- All the obstacles and course simensions are specificied in
DefaultCourse.mfile. - All of the functions are in
FunctionTemplate.m - To start the controller, run
TestMyDesign_NonLinear.m
A general overview of the design choices made while designing is available in the Report folder.