Neurocontrol for a rotary crane system with disturbance

Kosuke Tamanoi, Kunihiko Nakazono, Hiroshi Kinjo, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
ページ448-451
ページ数4
出版ステータスPublished - 2010 12 1
イベント15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan
継続期間: 2010 2 42010 2 6

出版物シリーズ

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

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用

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