Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4220
Título: Adaptive tackling of the swinging problem for a 2 DOF crane – payload system
Autor: Tar, József K.
Rudas, Imre J.
Bitó, János F.
Machado, J. A. Tenreiro
Kozłowski, Krzysztof R.
Palavras-chave: Adaptive control
Fixed point transformations
Cauchy sequences
Iterative learning
Local basin of attraction
Data: 2010
Editora: Springer
Relatório da Série N.º: Studies in Computational Intelligence; Vol. 313
Resumo: The control of a crane carrying its payload by an elastic string corresponds to a task in which precise, indirect control of a subsystem dynamically coupled to a directly controllable subsystem is needed. This task is interesting since the coupled degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed to simultaneously tackle the problems originating from the imprecise dynamic model available for the system to be controlled and the swinging problem, too. The most important phenomenological properties of this approach are also discussed. The control considers the 4th time-derivative of the trajectory of the payload. The operation of the proposed control is illustrated via simulation results.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4220
ISBN: 978-3-642-15219-1
ISSN: 1860-949X
Versão do Editor: http://link.springer.com/chapter/10.1007%2F978-3-642-15220-7_9
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