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 |
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ページ(範囲) | 98-101 |
ページ数 | 4 |
ジャーナル | Artificial Life and Robotics |
巻 | 13 |
号 | 1 |
DOI | |
出版ステータス | Published - 2008 12月 1 |
ASJC Scopus subject areas
- 生化学、遺伝学、分子生物学(全般)
- 人工知能