International Journal of Advanced Technology and Engineering Exploration ISSN (Print): 2394-5443    ISSN (Online): 2394-7454 Volume-13 Issue-139 June-2026
  1. 4774
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  2. 2.8
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Model-predictive control for position tracking and swing suppression of an underactuated tower crane system

Ahmad J. AL-Mahasnah1, Kasim M. Al-Aubidy2, Mohammed Baniyounis1 and Salih B. Al-Tuhaifi3

Department of Mechatronics Engineering,Philadelphia University,Amman,Jordan1
Department of Mechatronics Engineering,Tishk International University,Erbil,Iraq2
Department of Operation and Maintenance,Arab Open University,Amman,Jordan3
Corresponding Author : Kasim M. Al-Aubidy

Recieved : 18-August-2025; Revised : 16-June-2026; Accepted : 23-June-2026

Abstract

The efficient operation of tower cranes is critical in the construction and industrial sectors, where precise control of load positioning and swing angle is essential for ensuring safety, productivity, and operational efficiency. This study proposes a model predictive controller (MPC) to regulate the crane cart position while simultaneously minimizing the load swing angle to zero. The performance of the proposed MPC was compared with that of the widely used proportional-integral-derivative (PID) controller for tower crane systems. A series of simulation studies was conducted to evaluate the effectiveness of the proposed control strategy. The results obtained using MATLAB/Simulink demonstrate that the MPC controller outperforms the PID controller in terms of tracking accuracy, response speed, and disturbance rejection capability. Furthermore, the MPC significantly enhances crane positioning accuracy and reduces the swing angle amplitude by more than 72.4% compared with the PID controller, thereby improving operational safety, reliability, and overall efficiency.

Keywords

Tower crane control, Model predictive control, PID controller, Load swing suppression, Disturbance rejection.

Cite this article

AL-Mahasnah AJ, Al-Aubidy KM, Baniyounis M, Al-Tuhaifi SB. Model-predictive control for position tracking and swing suppression of an underactuated tower crane system. International Journal of Advanced Technology and Engineering Exploration. 2026;13(139):921-933. DOI : 10.19101/IJATEE.2025.121221149

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