DocumentCode
313811
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
Volume
5
fYear
1997
fDate
4-6 Jun 1997
Firstpage
3103
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.612029
Filename
612029
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