TY - GEN
T1 - Feedback controller with nonlinear compensator optimized by genetic algorithm for rotary crane system
AU - Kinjo, Hiroshi
AU - Nakazono, Kunihiko
AU - Ohnishi, Kohei
AU - Yamamoto, Tetsuhiko
PY - 2009/12/1
Y1 - 2009/12/1
N2 - The rotary crane is known to be a class of nonholonomic systems which is hard to control by classical methods. The crane system has inherently nonlinear characteristics. In this paper, we propose a feedback controller with an embeded nonlinear compensator for the rotary crane system. For the nonlinear compensation, we use a hyperbolic fuction and some coefficients. Determinations of the feedback gains and the compensator coefficients are difficult. In this paper, we apply GA optimization to determine the sets of parameters of the controller.
AB - The rotary crane is known to be a class of nonholonomic systems which is hard to control by classical methods. The crane system has inherently nonlinear characteristics. In this paper, we propose a feedback controller with an embeded nonlinear compensator for the rotary crane system. For the nonlinear compensation, we use a hyperbolic fuction and some coefficients. Determinations of the feedback gains and the compensator coefficients are difficult. In this paper, we apply GA optimization to determine the sets of parameters of the controller.
KW - Automation technology
KW - Industrial automation systems
KW - Intelligent systems
KW - Nonlinear control
KW - Optimization
UR - http://www.scopus.com/inward/record.url?scp=77951130374&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951130374&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951130374
SN - 9784907764333
T3 - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
SP - 1817
EP - 1821
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
T2 - ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Y2 - 18 August 2009 through 21 August 2009
ER -