Vibration control of load for rotary crane system using neural network with GA-based training

Kunihiko Nakazono, Kouhei Ohnishi, Hiroshi Kinjo, Tetsuhiko Yamamoto

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

1 Citation (Scopus)

Abstract

A neuro-controller for vibration control of load in a rotary crane system involving rotation about the vertical axis only is proposed. As in a nonholonomic system, the vibration control method using a static continuous state feedback cannot stabilize the load swing. It is necessary to design a time-varying feedback controller or a non continuous feedback controller. We propose a simple three-layered neural network as a controller genetic algorithm-based training in order to control load swing suppression for the rotary crane system. The controller is trained by a real coded genetic algorithm, substantially simplifying the design of the controller. It is demonstrated that a control scheme with performance comparable to conventional methods can be obtained by a relatively simple approach.

Original languageEnglish
Title of host publicationProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Pages609-612
Number of pages4
Publication statusPublished - 2008 Dec 1
Event13th International Symposium on Artificial Life and Robotics, AROB 13th'08 - Oita, Japan
Duration: 2008 Jan 312008 Feb 2

Publication series

NameProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08

Other

Other13th International Symposium on Artificial Life and Robotics, AROB 13th'08
CountryJapan
CityOita
Period08/1/3108/2/2

ASJC Scopus subject areas

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

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  • Cite this

    Nakazono, K., Ohnishi, K., Kinjo, H., & Yamamoto, T. (2008). Vibration control of load for rotary crane system using neural network with GA-based training. In Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 (pp. 609-612). (Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08).