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.m file.
• 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.