Neurocontrol for a rotary crane system with disturbance

Kosuke Tamanoi, Kunihiko Nakazono, Hiroshi Kinjo, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

In this paper we propose a neurocontroller (NC) for suppression of load swing with disturbance in a crane system rotating around the vertical axis. As in a nonholonomic system, the classical control method using a static continuous state feedback law cannot stabilize the load swing. It is necessary to design a time-varying feedback controller or a discontinuous feedback controller. Previous research had been successful in constructing the suppression controller of the load swing with a single initial rotation angle when disturbance occurred. In this paper, the performance of the NC optimized by genetic algorithm will be examined with three initial rotation angles.

Original languageEnglish
Title of host publicationProceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
Pages448-451
Number of pages4
Publication statusPublished - 2010
Event15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan
Duration: 2010 Feb 42010 Feb 6

Other

Other15th International Symposium on Artificial Life and Robotics, AROB '10
CountryJapan
CityBeppu, Oita
Period10/2/410/2/6

Fingerprint

Cranes
Controllers
Feedback
State feedback
Genetic algorithms

Keywords

  • Disturbance
  • Genetic algorithm
  • Neurocontroller
  • Rotary crane

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Tamanoi, K., Nakazono, K., Kinjo, H., & Ohnishi, K. (2010). Neurocontrol for a rotary crane system with disturbance. In Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 (pp. 448-451)

Neurocontrol for a rotary crane system with disturbance. / Tamanoi, Kosuke; Nakazono, Kunihiko; Kinjo, Hiroshi; Ohnishi, Kouhei.

Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 448-451.

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

Tamanoi, K, Nakazono, K, Kinjo, H & Ohnishi, K 2010, Neurocontrol for a rotary crane system with disturbance. in Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. pp. 448-451, 15th International Symposium on Artificial Life and Robotics, AROB '10, Beppu, Oita, Japan, 10/2/4.
Tamanoi K, Nakazono K, Kinjo H, Ohnishi K. Neurocontrol for a rotary crane system with disturbance. In Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 448-451
Tamanoi, Kosuke ; Nakazono, Kunihiko ; Kinjo, Hiroshi ; Ohnishi, Kouhei. / Neurocontrol for a rotary crane system with disturbance. Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. pp. 448-451
@inproceedings{b362c744d55846df8627a223088aa039,
title = "Neurocontrol for a rotary crane system with disturbance",
abstract = "In this paper we propose a neurocontroller (NC) for suppression of load swing with disturbance in a crane system rotating around the vertical axis. As in a nonholonomic system, the classical control method using a static continuous state feedback law cannot stabilize the load swing. It is necessary to design a time-varying feedback controller or a discontinuous feedback controller. Previous research had been successful in constructing the suppression controller of the load swing with a single initial rotation angle when disturbance occurred. In this paper, the performance of the NC optimized by genetic algorithm will be examined with three initial rotation angles.",
keywords = "Disturbance, Genetic algorithm, Neurocontroller, Rotary crane",
author = "Kosuke Tamanoi and Kunihiko Nakazono and Hiroshi Kinjo and Kouhei Ohnishi",
year = "2010",
language = "English",
isbn = "9784990288044",
pages = "448--451",
booktitle = "Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10",

}

TY - GEN

T1 - Neurocontrol for a rotary crane system with disturbance

AU - Tamanoi, Kosuke

AU - Nakazono, Kunihiko

AU - Kinjo, Hiroshi

AU - Ohnishi, Kouhei

PY - 2010

Y1 - 2010

N2 - In this paper we propose a neurocontroller (NC) for suppression of load swing with disturbance in a crane system rotating around the vertical axis. As in a nonholonomic system, the classical control method using a static continuous state feedback law cannot stabilize the load swing. It is necessary to design a time-varying feedback controller or a discontinuous feedback controller. Previous research had been successful in constructing the suppression controller of the load swing with a single initial rotation angle when disturbance occurred. In this paper, the performance of the NC optimized by genetic algorithm will be examined with three initial rotation angles.

AB - In this paper we propose a neurocontroller (NC) for suppression of load swing with disturbance in a crane system rotating around the vertical axis. As in a nonholonomic system, the classical control method using a static continuous state feedback law cannot stabilize the load swing. It is necessary to design a time-varying feedback controller or a discontinuous feedback controller. Previous research had been successful in constructing the suppression controller of the load swing with a single initial rotation angle when disturbance occurred. In this paper, the performance of the NC optimized by genetic algorithm will be examined with three initial rotation angles.

KW - Disturbance

KW - Genetic algorithm

KW - Neurocontroller

KW - Rotary crane

UR - http://www.scopus.com/inward/record.url?scp=84866666371&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84866666371&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84866666371

SN - 9784990288044

SP - 448

EP - 451

BT - Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10

ER -