Tensor Product Based Control of the Single Pendulum Gantry Process with Stable Neural Network Based Friction Compensation (CROSBI ID 574109)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Matuško, Jadranko ; Lešić, Vinko ; Kolonić, Fetah ; Ileš, Šandor
engleski
Tensor Product Based Control of the Single Pendulum Gantry Process with Stable Neural Network Based Friction Compensation
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.
Single Pendulum Gantry; Neural Network; Friction Compensation; RBFnetwork; on-line network learning
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Podaci o prilogu
1010-1015.
2011.
objavljeno
Podaci o matičnoj publikaciji
Budimpešta:
978-1-4577-0837-4
2159-6247
Podaci o skupu
2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2011)
predavanje
03.07.2011-07.07.2011
Budimpešta, Mađarska