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

Kunihiko Nakazono, Kosuke Tamanoi, Keijiro Ozaki, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
ページ626-629
ページ数4
出版ステータスPublished - 2009 12 1
イベント14th International Symposium on Artificial Life and Robotics, AROB 14th'09 - Oita, Japan
継続期間: 2008 2 52009 2 7

出版物シリーズ

名前Proceedings 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

ASJC Scopus subject areas

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

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