Abstract
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.
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This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008
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Nakazono, K., Ohnishi, K., Kinjo, H. et al. Vibration control of load for rotary crane system using neural network with GA-based training. Artif Life Robotics 13, 98–101 (2008). https://doi.org/10.1007/s10015-008-0586-5
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DOI: https://doi.org/10.1007/s10015-008-0586-5