The Fuzzy Robust Anti-Sway Crane Control System
نویسندگان
چکیده
منابع مشابه
Anti-sway control system for cantilever cranes
A process employing a computer controlled crane system for controlling the motion of a movable trolley from which a load is suspended at a variable hoist length therefrom to meet a selected arbitrary horizontal velocity reference while preventing sway of the load involves the steps of first, determining a lateral acceleration to reduce by a factor of one-half the sway energy contributed by (1) ...
متن کاملControl Schemes for Input Tracking and Anti-sway Control of a Gantry Crane
This paper presents investigations into the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, an LQR control is developed for cart position control of a ga...
متن کاملEvolutionary optimization of interval mathematics-based design of a TSK fuzzy controller for anti-sway crane control
A hybrid method combining an evolutionary search strategy, interval mathematics and pole assignment-based closed-loop control synthesis is proposed to design a robust TSK fuzzy controller. The design objective is to minimize the number of linear controllers associated with rule conclusions and tune the triangular-shaped membership function parameters of a fuzzy controller to satisfy stability a...
متن کاملAnti-Swing Control For An Overhead Crane With Fuzzy Compensation
This paper proposes a novel anti-swing control strategy for an overhead crane. The controller includes both position regulation and anti-swing control. Since the crane model is not exactly known, fuzzy rules are used to compensate friction, gravity as well as the coupling between position and anti-swing control. A high-gain observer is introduced to estimate the joint velocities to realize PD c...
متن کاملAnti-Swing Fuzzy Control of Overhead Traveling Crane
A new fuzzy controller for anti-swing and positioning control of an overhead traveling crane is proposed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model. The trolley position and velocity, the rope swing angle and angular velocity are selected as input items, and the trolley acceleration as output item. With a simple structure, the controller can auton...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Konbin
سال: 2009
ISSN: 2083-4608,1895-8281
DOI: 10.2478/v10040-008-0126-3