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: Conference contribution

1 被引用数 (Scopus)

抄録

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

本文言語English
ホスト出版物のタイトルProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
ページ609-612
ページ数4
出版ステータスPublished - 2008 12 1
イベント13th International Symposium on Artificial Life and Robotics, AROB 13th'08 - Oita, Japan
継続期間: 2008 1 312008 2 2

出版物シリーズ

名前Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08

Other

Other13th International Symposium on Artificial Life and Robotics, AROB 13th'08
国/地域Japan
CityOita
Period08/1/3108/2/2

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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