Sequential distributed predictive control of a 3D tower crane

An asymptotically stabilizing sequential distributed model predictive control (MPC) of a 3D tower crane is proposed. Stability is ensured by employing three locally stabilizing MPC control laws. In the case of Lipschitz continuous local MPC control laws, a terminal cost and a terminal set constraint are used as stabilizing ingredients while robust control invariant feasible set is used as an additional constraint to guarantee recursive feasibility. On the other hand, in the case of an arbitrary cost function, switching to a robust dual-mode local control law is used inside of the terminal set to guarantee asymptotic stability.