Anti-swing control with hierarchical fuzzy CMAC compensation for an overhead crane

Floriberto Ortiz Rodriguez; Wen Yu; Marco A. Moreno-Armendariz

doi:10.1109/ISIC.2007.4450907

Anti-swing control with hierarchical fuzzy CMAC compensation for an overhead crane

Floriberto Ortiz Rodriguez, Wen Yu, Marco A. Moreno-Armendariz

Research output: Contribution to conference › Paper

Abstract

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 CMAC are used to compensate friction, gravity as well as the coupling between position and anti-swing control. Real-time experiments are presented comparing this new stable anti-swing PD control strategy with regular crane controllers. © 2007 IEEE.

Original language	American English
Pages	333-338
Number of pages	299
DOIs	https://doi.org/10.1109/ISIC.2007.4450907
State	Published - 31 Mar 2008
Event	22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control - Duration: 31 Mar 2008 → …

Conference

Conference	22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control
Period	31/03/08 → …

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10.1109/ISIC.2007.4450907

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abstract = "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 CMAC are used to compensate friction, gravity as well as the coupling between position and anti-swing control. Real-time experiments are presented comparing this new stable anti-swing PD control strategy with regular crane controllers. {\textcopyright} 2007 IEEE.",

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AB - 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 CMAC are used to compensate friction, gravity as well as the coupling between position and anti-swing control. Real-time experiments are presented comparing this new stable anti-swing PD control strategy with regular crane controllers. © 2007 IEEE.

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Anti-swing control with hierarchical fuzzy CMAC compensation for an overhead crane

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