期刊
JOURNAL OF VIBRATION AND CONTROL
卷 20, 期 5, 页码 749-760出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/1077546312464681
关键词
Model-free; neural network; overhead crane; payload swing; variable structure system
资金
- Institute of Nuclear Energy Research in Taiwan [1002001INER011]
A novel control for a nonlinear two-dimensional (2-D) overhead crane is proposed. Instead of the complex design procedures used in classic methods, the proposed scheme combines the principles of neural networks (NNs) and variable structure systems (VSS) to derive control signals needed to drive the cart smoothly, rapidly and with limited payload swing. The merits include the robustness and model-free properties of the sliding mode and neural based controllers, respectively. Simulations performed using a scaled 2-D mathematical model of the crane confirm the effectiveness of the proposed method.
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