Optimal suppression control of load swing with disturbance for rotary crane system using neuro-controller

Kunihiko Nakazono, Kosuke Tamanoi, Keijiro Ozaki, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

In the paper, we propose a neuro-controller (NC) for suppression of load swing in a crane system rotating around the vertical axis. As in a nonholonomic system, the traditional 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. We propose a simple three-layered neural network as a controller in order to have control performance even if the load of the rotary crane system swings suddenly (disturbance). The NC is trained by a simple GA. The validity of the proposed NC is verified through computer simulation.

Original languageEnglish
Title of host publicationProceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
Pages626-629
Number of pages4
Publication statusPublished - 2009 Dec 1
Event14th International Symposium on Artificial Life and Robotics, AROB 14th'09 - Oita, Japan
Duration: 2008 Feb 52009 Feb 7

Publication series

NameProceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09

Other

Other14th International Symposium on Artificial Life and Robotics, AROB 14th'09
CountryJapan
CityOita
Period08/2/509/2/7

Keywords

  • Disturbace
  • Genetic algorithm
  • Load swing suppression
  • Neuro-controller

ASJC Scopus subject areas

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

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  • Cite this

    Nakazono, K., Tamanoi, K., Ozaki, K., & Ohnishi, K. (2009). Optimal suppression control of load swing with disturbance for rotary crane system using neuro-controller. In Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09 (pp. 626-629). (Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09).