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

Hiroshi Kinjo, Kunihiko Nakazono, Kohei Ohnishi, Tetsuhiko Yamamoto

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
ページ1817-1821
ページ数5
出版ステータスPublished - 2009 12 1
イベントICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
継続期間: 2009 8 182009 8 21

出版物シリーズ

名前ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
国/地域Japan
CityFukuoka
Period09/8/1809/8/21

ASJC Scopus subject areas

  • 情報システム
  • 制御およびシステム工学
  • 産業および生産工学

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