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 Dec 1
Event15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan
Duration: 2010 Feb 42010 Feb 6

Publication series

NameProceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10

Other

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

Keywords

  • Disturbance
  • Genetic algorithm
  • Neurocontroller
  • Rotary crane

ASJC Scopus subject areas

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

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  • 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). (Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10).