期刊
AUTOMATION IN CONSTRUCTION
卷 65, 期 -, 页码 133-143出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.autcon.2015.12.014
关键词
Fuzzy control; Single-input-rule module; Overhead cranes; Double-pendulum systems; Genetic algorithm
资金
- Korea Foundation for Advanced Studies
- National Natural Science Foundation of China [60904008]
Overhead cranes are widely utilized. The use of overhead cranes suffers from the natural sway of payloads. The sway deteriorates not only safety but also throughput. Under certain operating conditions, the sway exhibits double-pendulum motions. The motions complicate crane control. A fuzzy inference model is entitled 'single-input-rule modules' (SIRMs). The SIRMs based model is preferable because it can decrease the number of fuzzy rules. This paper develops a SIRMs based fuzzy controller for transport control of double-pendulum-type systems. The controller includes six SIRMs that are dynamically weighted. Genetic algorithm (GA) is adopted to tune some parameters of the controller. Compared with other three controllers, i.e., passivity-based controller, sliding-mode controller and input-shaping controller, simulation results are presented to show the performance and effectiveness of the SIRMs based fuzzy controller for transport control of double-pendulum-type systems. (C) 2015 Elsevier B.V. All rights reserved.
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