Interval arithmetic-based fuzzy discrete-time crane control scheme design

• Autorzy: Smoczek J.
• Języki publikacji: EN

Abstrakty

EN

In many manufacturing segments, container terminals and shipping yards the automation of material handling systems is an important element of enhancing productivity, safety and efficiency. The fast, precise and safe transfer of goods in crane operations requires a control application solving the problems, including non-collision trajectory planning and limitation of payload oscillations. The paper presents the interval arithmetic-based method of designing a discrete-time closed-loop anti-sway crane control system based on the fuzzy interpolation of linear controller parameters. The interval analysis of a closed-loop control system characteristic polynomial coefficients deviation from their nominal values is proposed to define a minimum number of fuzzy sets on the scheduling variables universe of discourse and to determine the distribution of triangular-shaped membership functions parameters, which satisfy the acceptable range of performances deterioration in the presence of the system’s parameters variation. The effectiveness of this method was proved in experiments conducted using the PAC system on the laboratory scaled overhead crane.

Słowa kluczowe

EN

interval arithmetic; discrete-time control; fuzzy control; pole placement; anti-sway control

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2013
• Tom: Vol. 61, nr 4
• Strony: 863--870
• Opis fizyczny: Bibliogr. 40 poz., rys., wykr., alg.

Twórcy

autor

Smoczek J.

• AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, 30 Mickiewicza Ave., 30-059 Cracow, Poland

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