Stabilization of 2-D Spider Crane with Non-Convex State Constraints using MPC

In this paper, we consider the problem of payload transfer using a multi-cable suspended mechanism called the 2D Spider-Crane, with obstacle such as a 'wall', restricting the available feasible area. The presence of a wall engenders non-convex constraints on system's state. We present a Model Predictive Control (MPC) strategy for stabilisation of payload at a desired position considering all the state and input constraints. The major advantage of MPC over other control schemes is that, it explicitly takes into account the system constraints. This feature makes it suitable for dealing with such systems having realistic state and input constraints. We illustrate via simulations, the effectiveness of MPC technique by moving the payload to the desired position while respecting the state and input bounds.