TY - GEN
T1 - Anti-swing control with hierarchical fuzzy CMAC compensation for an overhead crane
AU - Rodriguez, Floriberto Ortiz
AU - Yu, Wen
AU - Moreno-Armendariz, Marco A.
PY - 2007
Y1 - 2007
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=41149157468&partnerID=8YFLogxK
U2 - 10.1109/ISIC.2007.4450907
DO - 10.1109/ISIC.2007.4450907
M3 - Contribución a la conferencia
AN - SCOPUS:41149157468
SN - 142440441X
SN - 9781424404414
T3 - 22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control
SP - 333
EP - 338
BT - 22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control
PB - IEEE Computer Society
T2 - 2007 IEEE 22nd International Symposium on Intelligent Control, ISIC 2007
Y2 - 1 October 2007 through 3 October 2007
ER -