Feedback controller with nonlinear compensator optimized by genetic algorithm for rotary crane system

Hiroshi Kinjo, Kunihiko Nakazono, Kohei Ohnishi, Tetsuhiko Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages1817-1821
Number of pages5
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09/8/1809/8/21

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Keywords

  • Automation technology
  • Industrial automation systems
  • Intelligent systems
  • Nonlinear control
  • Optimization

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Kinjo, H., Nakazono, K., Ohnishi, K., & Yamamoto, T. (2009). Feedback controller with nonlinear compensator optimized by genetic algorithm for rotary crane system. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 1817-1821). [5332901] (ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings).