{"id":"https://openalex.org/W4286306247","doi":"https://doi.org/10.23919/ascc56756.2022.9828180","title":"Nonlinear Model Predictive Control with Non-Equidistant Discretization Time Grids for Rotary Cranes","display_name":"Nonlinear Model Predictive Control with Non-Equidistant Discretization Time Grids for Rotary Cranes","publication_year":2022,"publication_date":"2022-05-04","ids":{"openalex":"https://openalex.org/W4286306247","doi":"https://doi.org/10.23919/ascc56756.2022.9828180"},"language":"en","primary_location":{"id":"doi:10.23919/ascc56756.2022.9828180","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ascc56756.2022.9828180","pdf_url":null,"source":{"id":"https://openalex.org/S4363607827","display_name":"2022 13th Asian Control Conference (ASCC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 13th Asian Control Conference (ASCC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110339166","display_name":"Frank Wolff","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Wolff","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany","Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062939314","display_name":"Naoki Uchiyama","orcid":"https://orcid.org/0000-0003-3642-9944"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Uchiyama","raw_affiliation_strings":["Toyohashi University of Technology,Department of Mechanical Engineering,Toyohashi,Japan","Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyohashi University of Technology,Department of Mechanical Engineering,Toyohashi,Japan","institution_ids":["https://openalex.org/I136259955"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091569919","display_name":"Mark Burkhardt","orcid":"https://orcid.org/0000-0002-9216-0735"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mark Burkhardt","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany","Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany","Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1753","last_page":"1758"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.8637875318527222},{"id":"https://openalex.org/keywords/equidistant","display_name":"Equidistant","score":0.8591642379760742},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8583842515945435},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7330541610717773},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7272887825965881},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7173414826393127},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5874143838882446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5672175884246826},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5569846630096436},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48220598697662354},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.44474494457244873},{"id":"https://openalex.org/keywords/economic-shortage","display_name":"Economic shortage","score":0.4258556365966797},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4112812876701355},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40050914883613586},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3561341166496277},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35417455434799194},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25058186054229736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.232598215341568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21026083827018738},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20685476064682007},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11783954501152039}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.8637875318527222},{"id":"https://openalex.org/C158245278","wikidata":"https://www.wikidata.org/wiki/Q4386982","display_name":"Equidistant","level":2,"score":0.8591642379760742},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8583842515945435},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7330541610717773},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7272887825965881},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7173414826393127},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5874143838882446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5672175884246826},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5569846630096436},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48220598697662354},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.44474494457244873},{"id":"https://openalex.org/C194051981","wikidata":"https://www.wikidata.org/wiki/Q1337691","display_name":"Economic shortage","level":3,"score":0.4258556365966797},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4112812876701355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40050914883613586},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3561341166496277},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35417455434799194},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25058186054229736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.232598215341568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21026083827018738},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20685476064682007},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11783954501152039},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2778137410","wikidata":"https://www.wikidata.org/wiki/Q2732820","display_name":"Government (linguistics)","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ascc56756.2022.9828180","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ascc56756.2022.9828180","pdf_url":null,"source":{"id":"https://openalex.org/S4363607827","display_name":"2022 13th Asian Control Conference (ASCC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 13th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1603030703","https://openalex.org/W1996071470","https://openalex.org/W2011259211","https://openalex.org/W2082977942","https://openalex.org/W2088238695","https://openalex.org/W2099963461","https://openalex.org/W2842089854"],"related_works":["https://openalex.org/W2055230676","https://openalex.org/W2373708349","https://openalex.org/W2370379095","https://openalex.org/W2064284991","https://openalex.org/W2385837322","https://openalex.org/W2123581415","https://openalex.org/W1992503747","https://openalex.org/W2546071705","https://openalex.org/W2354382931","https://openalex.org/W2392576975"],"abstract_inverted_index":{"This":[0],"study":[1],"deals":[2],"with":[3,8],"an":[4,44,51,117],"automated":[5],"crane":[6,77],"control":[7,58,90],"load":[9],"sway":[10],"suppression,":[11],"which":[12,71],"is":[13,60,85,103,124,135],"highly":[14],"required":[15],"due":[16],"to":[17,105],"the":[18,24,27,63,110,132],"shortage":[19],"of":[20,26,39,112,131],"skilled":[21],"operators":[22],"and":[23,43,140],"improvement":[25],"workspace":[28],"safety.":[29],"Most":[30],"approaches":[31],"in":[32,87,126],"literature":[33],"rely":[34],"on":[35,54,121],"a":[36,40,66,82,100],"separate":[37,67],"design":[38],"trajectory":[41,68],"generation":[42],"underlying":[45],"tracking":[46],"controller.":[47],"In":[48],"this":[49,107,127],"paper,":[50],"approach":[52],"based":[53,120],"nonlinear":[55],"model":[56,88],"predictive":[57,89],"(NMPC)":[59],"proposed":[61,125,133],"without":[62],"need":[64],"for":[65,97],"planning":[69],"algorithm,":[70],"can":[72],"consider":[73],"practical":[74],"constraints":[75],"including":[76],"actuator":[78],"limitations.":[79],"As":[80],"typically":[81],"long":[83],"horizon":[84],"desired":[86],"(MPC)":[91],"while":[92],"maintaining":[93],"short":[94],"computation":[95],"times":[96],"real-time":[98],"implementation,":[99],"non-equidistant":[101],"discretization":[102,114],"used":[104],"fulfill":[106],"requirement.":[108],"For":[109],"choice":[111],"suitable":[113],"time":[115],"points,":[116],"offline":[118],"algorithm":[119,134],"numerical":[122],"optimization":[123],"paper.":[128],"The":[129],"effectiveness":[130],"shown":[136],"quantitatively":[137],"via":[138],"simulation":[139],"experiment.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
