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.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Sanpei M (1997) Feedback control of nonholonomic system (in Japanese). J Soc Instrument Control Eng 36(6):396–403
Rumelhart DE, McClelland JL, PDP Research Group (1989) Parallel distributed processing. MIT Press
Davis L (ed) (1991) Handbook of genetic algorithms. Van Nostrand Reinhold, New York
Forgel DB (1995) Evolutionary computation. IEEE Press
Holland JH (1992) Adaptation in natural and artificial systems: an introductory analysis with applications to biology, control, and artificial intelligence. MIT Press
Goldberg DE (1989) Genetic algorithms in search, optimization & machine learning. Addison-Wesley
Eshelman LJ, Schaffer DJ (1993) Real-coded genetic algorithms and interval-schemata, Foundations of genetic algorithms 2. Morgan Kaufmann, pp 187–202
Yamazaki S, Itoh T, Hisamura T (1979) Theoretical consideration on a control of jib-crane. Trans Soc Instrument Control Eng 15(6):826–832
Sakawa Y, Shindo Y (1982) Optimal control of container cranes. Automatica 18(3):257–266
Ohto M, Yasunobu S (1997) A rotary crane control method based on a skillful operator’s knowledge (in Japanese). Trans Soc Instrument Control Eng 33(9):923-929
Kondo R, Shimahara S (2005) Anti-sway control of a rotary crane via two-mode switching control (in Japanese). Trans Soc Instrument Control Eng 41(4):307–313
Kondo R (2006) Vibration control of rotary crane via two-mode switching control (in Japanese). J Soc Instrument Control Eng 45(7):632–637
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008
About this article
Cite this article
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
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10015-008-0586-5