Title :
Fuzzy time optimal control of crane load
Author :
Moon, Myung S. ; VanLandingham, H. ; Beliveau, Yvan J.
Author_Institution :
Bradley Dept. of Electr. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
Abstract :
A linear time varying state equation is developed for hoisting and lowering operations of a crane system model. After showing that bang-bang control is time optimal and the number of switchings is limited, a set of new control variables, that is a set of switching times, is defined. Through parametrization of switching times, a set of fuzzy control variables are extracted and a simple iterative switching time update scheme is devised to find a set of time optimal switching times. The amounts of switching times adjustment are determined by a set of fuzzy rules and corresponding fuzzy control. For distance control a lookup table is generated by trying different distance indices, collecting the data, and incorporating an interpolation algorithm
Keywords :
cranes; fuzzy control; interpolation; materials handling; spatial variables control; time optimal control; bang-bang control; crane load; crane system model; distance control; distance indices; fuzzy time optimal control; hoisting; interpolation algorithm; linear time varying state equation; lookup table; lowering; simple iterative switching time update scheme; switching times; Acceleration; Artificial neural networks; Bang-bang control; Cranes; Equations; Fuzzy control; Humans; Interpolation; Optimal control; Time varying systems;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.572607
