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

Bulletin of the Polish Academy of Sciences. Technical Sciences

J. SmoczekCorresponding authorAGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, 30 Mickiewicza Ave., 30-059 Cracow, PolandEmailOther articles by this author:De Gruyter OnlineGoogle Scholar¹ 

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

关键词: Keywords : interval arithmetic;    discrete-time control;    fuzzy control;    pole placement;    anti-sway control;   

DOI  :  10.2478/bpasts-2013-0093

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

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.

【 授权许可】

Unknown