Time Optimal Control of a Dynamic System With Varying Parameters

A lot of researches have been focused on the control design of systems regarding totime optimal moving of end effectors between two points in Cartesian space. Also anumber of researchers have tried to solve the time invariant problem of control systems.A few works were done for time varying systems.For a 20 gantry crane system, the equations of motion and state space equations wereobtained. Switching times have been calculated for such crane by means 0; phase planeanalysis and algorithm genetic. The best input for system is Bang-Bang input and phaseplane analysis here uses an open loop method.If the length of cable does not vary during the motion, the switching times wereobtained, by the results of Genetic Algorithm method and have been verified by thephase plane method. It is shown that the Algorithm Genetic method is a useful methodfor obtaining switching times. If the length of cable varies during the motion, theoscillation of cable in the end of the motion were justified and controlled by means ofFuzzy control method. The rule-based method has been used for adjusting the fuzzycontroller