Loading...

Design of a gain-scheduling anti-swing controller for tower cranes using fuzzy clustering techniques

Sadati, N ; Sharif University of Technology | 2006

314 Viewed
  1. Type of Document: Article
  2. DOI: 10.1109/CIMCA.2006.83
  3. Publisher: IEEE Computer Society , 2006
  4. Abstract:
  5. The main objective of this paper is to design a fast,non-expensive and practical controller for towercranes. The controllers are designed to transfer theloads from point to point, as fast as possible, and at thesame time the load swing is kept small during thetransfer process. Moreover, variations of the systemparameters such as cable length are taken intoconsideration. It is shown how the state feedbackcontrollers along with the gain scheduling could beused for a time varying linear model with varyingparameters. For this reason, linear controllers aredesigned for a number of operating points, where theirparameters are interpolated for conditions in between.In this way, a globally nonlinear controller isobtained. However, the selection of the operatingpoints and the design of the interpolation schemeremains a time-consuming procedure. In order toreduce the design efforts, an automated procedure fordetermination of the number of operating points andtheir locations using fuzzy clustering have beenproposed. This approach also provides theinterpolation mechanism, using membership functions,for the local controller parameters. © 2006 IEEE
  6. Keywords:
  7. Feedback control ; Mathematical models ; Time domain analysis ; Linear controllers ; Local controller parameters ; Time consuming procedures ; Fuzzy clustering
  8. Source: CIMCA 2006: International Conference on Computational Intelligence for Modelling, Control and Automation, Jointly with IAWTIC 2006: International Conference on Intelligent Agents Web Technologies and International Commerce, Sydney, NSW, 28 November 2006 through 1 December 2006 ; 2006 ; 0769527310 (ISBN); 9780769527314 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/4052796