{"id":"https://openalex.org/W4385452015","doi":"https://doi.org/10.23919/ecc57647.2023.10178159","title":"Flatness-based Model Predictive Payload Control for Offshore Cranes","display_name":"Flatness-based Model Predictive Payload Control for Offshore Cranes","publication_year":2023,"publication_date":"2023-06-13","ids":{"openalex":"https://openalex.org/W4385452015","doi":"https://doi.org/10.23919/ecc57647.2023.10178159"},"language":"en","primary_location":{"id":"doi:10.23919/ecc57647.2023.10178159","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc57647.2023.10178159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","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/A5077173887","display_name":"Philipp Schubert","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Philipp Schubert","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University,Aachen,Germany,52074"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University,Aachen,Germany,52074","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University,Aachen,Germany,52074"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University,Aachen,Germany,52074","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077173887"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":0.3642,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58123507,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.998199999332428,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/model-predictive-control","display_name":"Model predictive control","score":0.8089085817337036},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7617825865745544},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.7538547515869141},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7426326274871826},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6246039867401123},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5188145041465759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4754635691642761},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4705527126789093},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4517129063606262},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42907586693763733},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41507411003112793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40712806582450867},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20084360241889954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10658854246139526},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10409799218177795}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8089085817337036},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7617825865745544},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.7538547515869141},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7426326274871826},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6246039867401123},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5188145041465759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4754635691642761},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4705527126789093},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4517129063606262},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42907586693763733},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41507411003112793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40712806582450867},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20084360241889954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10658854246139526},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10409799218177795},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc57647.2023.10178159","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc57647.2023.10178159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:968771","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/968771","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC) : 13-16 June 2023 : location: Bucharest, Romania<br/>2023 European Control Conference, ECC, Bucharest, Romania, 2023-06-13 - 2023-06-16","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8100000023841858,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320333681","display_name":"SFI Offshore Mechatronics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W360398313","https://openalex.org/W1232825439","https://openalex.org/W1562460111","https://openalex.org/W1968217051","https://openalex.org/W2011259211","https://openalex.org/W2031218415","https://openalex.org/W2038300179","https://openalex.org/W2062562565","https://openalex.org/W2065297540","https://openalex.org/W2078978755","https://openalex.org/W2096744528","https://openalex.org/W2099963461","https://openalex.org/W2108674204","https://openalex.org/W2150211007","https://openalex.org/W2162870748","https://openalex.org/W2318426940","https://openalex.org/W2492811885","https://openalex.org/W2889923887","https://openalex.org/W2894788235","https://openalex.org/W2967478377","https://openalex.org/W2968452148","https://openalex.org/W3123780741","https://openalex.org/W4388910200","https://openalex.org/W6858920174"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W2789295429","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W4306309337","https://openalex.org/W2066314436","https://openalex.org/W4313563004","https://openalex.org/W20648474","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Crane-based":[0],"cargo":[1],"handling":[2],"at":[3],"sea":[4,15,19,118,140],"is":[5,34,91,112,131,154],"subject":[6],"to":[7,13,36,67,105,134,138,144],"a":[8,79,99,145],"variety":[9],"of":[10,42,76,87,148],"disturbances":[11],"linked":[12],"the":[14,84,88,106,127,149],"swell.":[16],"During":[17],"rough":[18],"states,":[20],"spatial":[21],"payload":[22],"oscillations":[23],"occur,":[24],"which":[25,65,93],"render":[26],"safe":[27],"loading":[28],"operations":[29],"challenging.":[30],"Therefore,":[31],"increasing":[32],"effort":[33],"made":[35],"automate":[37],"disturbance":[38],"rejection":[39],"in":[40,114],"terms":[41],"sway":[43],"reduction":[44],"(Anti":[45],"Sway":[46],"Control)":[47],"and":[48,71],"vertical":[49],"position":[50,129],"control":[51,60,96],"(Active":[52],"Heave":[53],"Compensation).":[54],"In":[55,74,142],"this":[56,77],"context,":[57],"model":[58],"predictive":[59,80],"(MPC)":[61],"has":[62],"been":[63],"studied,":[64],"allows":[66],"consider":[68],"both":[69],"stabilization":[70],"tracking":[72,124],"problems.":[73],"context":[75],"contribution,":[78],"controller":[81,110],"based":[82],"on":[83],"differential":[85],"flatness":[86],"crane":[89],"system":[90],"presented,":[92],"facilitates":[94],"real-time":[95],"while":[97],"attaining":[98],"high":[100],"damping":[101],"performance":[102],"with":[103],"respect":[104],"swinging":[107],"payload.":[108],"The":[109,120],"design":[111],"evaluated":[113],"simulation":[115],"for":[116,136],"varying":[117],"disturbances.":[119],"results":[121],"suggest":[122],"good":[123],"capabilities,":[125],"where":[126],"payload\u2019s":[128],"error":[130],"reduced":[132],"up":[133],"85%":[135],"light":[137],"medium":[139],"states.":[141],"comparison":[143],"nonlinear":[146],"formulation":[147],"MPC":[150],"problem,":[151],"computational":[152],"complexity":[153],"furthermore":[155],"reduced,":[156],"enabling":[157],"fast":[158],"sample":[159],"times":[160],"around":[161],"10":[162],"ms.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}