Real-time time-optimal control for a nonlinear container crane using a neural network

被引：0
|
作者：
van den Boom, T. J. J. [1 ]
Klaassens, J. B. [1 ]
Meiland, R. [1 ]
机构：
[1] Delft Univ Technol, Delft Ctr Syst & Control, Mekelweg 2, NL-2628 CD Delft, Netherlands
来源：
INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS II | 2007年
关键词：
time-optimal crane control; Nonlinear Model Predictive Control; Optimization; binary search algorithm; neural networks; Bayesian regularization;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers time-optimal control for a container crane based on a Model Predictive Control approach. The model we use is nonlinear and it is planar, i.e. we only consider the swing (not the skew) and we take constraints on the input signal into consideration. Since the time required for the optimization makes time-optimal not suitable for fast systems and/or complex systems, such as the crane system we consider, we propose an off-line computation of the control law by using a neural network. After the neural network has been trained off-line, it can then be used in an on-line mode as a feedback control strategy.
引用
收藏
页码：79 / +
页数：3
相关论文
共 50 条
  • [31] TIME-OPTIMAL REORIENTATION USING NEURAL NETWORK AND PARTICLE SWARM FORMULATION
    Basu, Ko
    Melton, Robert G.
    Aguasvivas-Manzano, Sarah
    [J]. ASTRODYNAMICS 2017, PTS I-IV, 2018, 162 : 233 - 246
  • [32] Visual Feedback Control of an Overhead Crane and Its Combination with Time-Optimal Control
    Yoshida, Yasuo
    Tabata, Haruhisa
    [J]. 2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2008, : 1114 - 1119
  • [33] Real-time Optimal Control of Force Distribution Using a Neural Dynamical Approach
    Xia, Youshen
    Feng, Gang
    [J]. 2008 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-4, 2008, : 1576 - +
  • [34] NEURAL NETWORK WITH DYNAMIC PROGRAMMING FOR TIME-OPTIMAL CONTROL OF CONICAL TANK LEVEL
    Bhuvaneswari, N. S.
    Uma, G.
    Rangaswamy, T. R.
    [J]. CONTROL AND INTELLIGENT SYSTEMS, 2009, 37 (04) : 187 - 194
  • [35] Time-optimal constrained kinematic control of robotic manipulators by recurrent neural network
    Li, Zhan
    Li, Shuai
    [J]. EXPERT SYSTEMS WITH APPLICATIONS, 2024, 257
  • [36] Neural network based manipulator control with time-optimal robot path tracking
    Veryha, YB
    Kourtch, L
    [J]. PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 2000, : 748 - 753
  • [37] Research on Real-time Estimation of Fatigue Life for Quayside Container Crane
    Wang Wei
    Hu Xiong
    [J]. APPLIED MECHANICS AND CIVIL ENGINEERING, 2012, 137 : 424 - 428
  • [38] Numerical solution of a nonlinear time-optimal control problem
    G. V. Shevchenko
    [J]. Computational Mathematics and Mathematical Physics, 2011, 51
  • [39] TIME-OPTIMAL CONTROL IN NONLINEAR EVOLUTION-EQUATIONS
    KAMPOWSKY, W
    [J]. LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES, 1990, 143 : 301 - 311
  • [40] Numerical solution of a nonlinear time-optimal control problem
    Shevchenko, G. V.
    [J]. COMPUTATIONAL MATHEMATICS AND MATHEMATICAL PHYSICS, 2011, 51 (04) : 537 - 549
12345