Intelligent Control of Industrial Robotic Three Degree of Freedom Crane Using Artificial Neural Network
Cranes are widely used all over the world in industrial sector to reduce the man hours and increase efficiency.It is used for carrying load from one place to another,during this movement there are often undesired vibrations and fluctuations of lifted payload which needs to be controlled.Conventional PID techniques such as tuning of PID gains through Linear Quadratic Regulator (LQR) controller can be used to control these undesired vibrations.These techniques also result in some undesired overshoot and undershoot causing the payload to swing prior to system getting stable.However if these gains are further tuned by Artificial Neural Networks (ANN) then this undesired overshoot and undershoot can also be controlled.
Three Degree of Freedom (3DOF) Linear Quadratic Regulator Controller (LQR) Artificial Neural Network (ANN) Algebraic Riccati Equation (ARE) Neural Network Predictive Controller (NNPC)
Muhammad Hamid Mohsin Jami Shahid Ikamullah Butt
School of Mechanical and Manufacturing Engineering (SMME),National University of Sciences and Technology (NUST),H-12 Main Campus,Islamabad,Pakistan
国际会议
重庆
英文
113-117
2016-03-20（万方平台首次上网日期，不代表论文的发表时间）