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

Kunihiko Nakazono, Kouhei Ohnishi, Hiroshi Kinjo, Tetsuhiko Yamamoto

研究成果: Article査読

35 被引用数 (Scopus)

抄録

A neuro-controller for vibration control of load in a rotary crane system is proposed involving the rotation about the vertical axis only. 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 discontinuous feedback controller. We propose a simple three-layered neural network as a controller (NC) with genetic algorithm-based (GA-based) training in order to control load swing suppression for the rotary crane system. The NC is trained by a real-coded GA, which substantially simplifies the design of the controller. It appeared that a control scheme with performance comparable to conventional methods can be obtained by a relatively simple approach.

本文言語English
ページ(範囲)98-101
ページ数4
ジャーナルArtificial Life and Robotics
13
1
DOI
出版ステータスPublished - 2008 12 1

ASJC Scopus subject areas

  • 生化学、遺伝学、分子生物学(全般)
  • 人工知能

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