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The paper focuses on multivariable generalized predictive control (GPC) of an underactuated overhead crane with constraints on manipulated variable and sway angle of a payload. The adaptive control scheme is developed based on the discrete-time linear parameter varying model of a crane dynamic identified using the recursive least square (RLS) algorithm with parameter projection. Particle swarm optimization...
The transient and residual vibrations in flexible underactuated mechatronic systems adversely affect the effectiveness and accuracy of performed tasks and movements. Moreover, in the case of crane operation the transient underactuated payload swing may present a safety hazard. In this paper, a novel control approach based on a multivariable model predictive control and a particle swarm optimizer is...
The paper focuses on comparing the model predictive control, feedback controller and input shaping control for a laboratory scaled overhead traveling crane. The adaptive control of an overhead crane is developed based on the Generalized Predictive Control (GPC) procedure. Particle swarm optimization is applied to solve the optimal constrained control problem. The recursive least square (RLS) algorithm...
The adaptive control of an overhead crane is developed based on Generalized Predictive Control (GPC) technique. The one-step ahead predictive control scheme is proposed for reducing the residual and transient oscillations of a payload suspended on a rope and transferred by a crane, with respect to the variation of rope length and mass of a payload. The recursive least square (RLS) algorithm is applied...
The paper presents a TS fuzzy controller for a crane planar model developed through combining a local pole placement method and interval analysis of closed-loop characteristic polynomial coefficients. A family of local linear controllers represented by rule conclusions is determined based on the objective function derived from an interval Diophantine equation. The two methods, iterative procedure...
The prototyping process of a fuzzy logic-based anti-sway control scheme for the laboratory scaled overhead crane is described. The software-hardware equipment of control system, as well as the contact and contactless techniques of sway angle of a payload sensing which have been implemented on the laboratory stand are presented. Proposed anti-sway control system is based on a set of the linear controllers...
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