Stable adaptive compensation with fuzzy CMAC for an overhead crane

0209 industrial biotechnology 0202 electrical engineering, electronic engineering, information engineering 02 engineering and technology
DOI: 10.1016/j.ins.2009.06.032 Publication Date: 2009-07-01T08:17:37Z
ABSTRACT
Abstract In order to control mechanical systems, this paper proposes a novel fast control strategy. The controller includes a normal proportional and derivative (PD) regulator and a fuzzy cerebellar model articulation controller (CMAC). For an overhead crane, this control can realize both position tracking and anti-swing. Using a Lyapunov method and an input-to-state stability technique, the PD control with CMAC compensation is proven to be robustly stable with bounded uncertainties. Real-time experiments are presented comparing this new stable control strategy with regular crane controllers.
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