Title :
Learning control of an overhead crane for obstacle avoidance
Author :
Gao, J. ; Chen, D.
Author_Institution :
Dept. of Electr. Eng. & Comput. Eng., Iowa State Univ., Ames, IA, USA
Abstract :
A control strategy is presented for a 3-dimensional overhead crane. Using the differential flatness of the crane and a parametrization method, we calculate the optimal trajectory of the payload that results in minimum transfer time when there exist obstacles in the direct moving path. A learning algorithm is then used to generate the desired feedforward input signal that can drive the system output to track the optimal trajectory exactly
Keywords :
cranes; intelligent control; learning systems; path planning; time optimal control; tracking; dynamics; learning control; obstacle avoidance; overhead crane; state feedback; time optimal control; trajectory tracking; Control systems; Cranes; Equations; Force control; Liquid crystal on silicon; Payloads; Planing; Signal generators; Structural beams; Trajectory;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.612029
