Naslov
Tensor Product Based Control of the Single Pendulum Gantry Process with Stable Neural Network Based Friction Compensation

Autori
Matuško, Jadranko ; Lešić, Vinko ; Kolonić, Fetah ; Ileš, Šandor

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics / - Budimpešta, 2011, 1010-1015

ISBN
978-1-4577-0837-4

Skup
2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2011)

Mjesto i datum
Budimpešta, Mađarska, 03.07.2011. - 07.07.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Single Pendulum Gantry; Neural Network; Friction
(Single Pendulum Gantry; Neural Network; Friction Compensation; RBFnetwork; on-line network learning)

Sažetak
Fast and accurate positioning and swing miminimization of the containers and other loads in crane manipulation are demanding and in the same time conflicting tasks. For accurate positioning, the main problem is nonlinear friction effect, especially in the low speed region. In this paper authors propose position controller realized as hybrid controller. It consists of the tensor product based nonlinear feedback controller with additional friction self- learning neural compensator. The experimental results show that friction compensator is able to remove position error in steady state.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Strojarstvo, Tehnologija prometa i transport

POVEZANOST RADA