Optimal Composite Nonlinear Feedback Control for a Gantry Crane System
This paper investigates an optimal design of composite nonlinear feedback control law for a gantry crane system. The control objective is to drive the trolley of the gantry crane system to a target position as fast as possible without any overshoot while the load is limited in a speci..ed swaying angle. An optimal linear feedback control problem and an optimal composite nonlinear feedback control problem are respectively formulated as parameter optimization problems under the same performance index and restrictions on stability, tracking overshoot, and swaying angle. To handle the multi-restrictions, the particle swarm optimization algorithm is applied to solve the parameter optimization problems. The transient performance under the optimal linear feedback control and the optimal composite nonlinear feedback control are compared by applying the designed control laws to a gantry crane system.
Composite Nonlinear Feedback Parameter Optimization Linear Systems with Input Saturation Particle Swarm Optimization
YU Xiao LAN Weiyao
Department of Automation, Xiamen University, Xiamen 361005, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
601-606
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）