書誌事項
- タイトル別名
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- Sensorless Anti-swing Robust Nonlinear Control for Travelling Crane System Using SVR with Generalized Gaussian Function and Robust Right Coprime Factorization
- イッパンカ ガウス カンスウ オ モチイタ SVR ニ ヨル センサーレス ソウコウ クレーン ノ ロバスト ウ キヤク ブンカイ ニ ヨル ロバスト ヒセンケイ セイギョ
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説明
In this paper, a sensorless robust nonlinear control for travelling cranes is proposed. The control objectives are to control two outputs, the dispalcement of the travelling trolley and swing angle of the pay load using one input force, that is, the control system is an underactuated system. To control the outputs, a real-time measurement of the outputs is neccessary. But the real-time measurement of the swing angle using hardware sensors is difficult and a software method for the measurement is required. However, the crane system is described as a nonlinear dynamic system including uncertainty, which represents estimation errors of motion friction and viscous friction and unmodeled dynamics. Because of the uncertainty, it is difficult to estimate swing angle of the payload using model-based methods. This paper uses data-based Support Vector Regression for dealing with the above problem. And to enhance the generalizing ability and to apply to estimation of the swing angle in this system, this paper newly proposes to use a generalized Gaussian function as a kernel fucntion and real-time estimation of the two parameters of the function, that is, variance and shape parameter of the generalized Gaussian function. As the control law, two feedback loops are used. First is robust nonlinear stabilizing control law based on right coprime factorization approach. Second is given outside of the first feedback loop and it is nonlinear tracking controller. For the tracking controller, an optimization scheme is derived. Finally, experimental results are given to show the effectiveness of the proposed scheme.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 47 (9), 366-373, 2011
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390282679479033728
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- NII論文ID
- 130004549550
- 10029795441
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 11281742
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
