A higher order adaptive approach to tackle the swinging problem

J. Tar, I. Rudas, János F. Bitó, José A. Tenreiro Machado, Krzysztof R. Kozłowski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In numerous practical applications precise control of a subsystem passively connected to a precisely controllable subsystem by elastic connection is needed. As typical example is a crane carrying its payload swinging on an elastic string can be mentioned. From the point of view of control technology this task is interesting since the connected degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed for simultaneously tackle the problems originating from the imprecisions of the available dynamic model of the system to be controlled and the swinging phenomenon. In the simulation investigations presented a simple model consisting of two connected masspoints is considered: one of them can directly by controlled by control forces, the other one (in the role of the payload) is dragged by the controlled point via an elastic spring. The control considers the 4th time-derivative of the trajectory of the dragged system.

Original languageEnglish
Title of host publication10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009
Pages145-153
Number of pages9
Publication statusPublished - 2009
Event10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009 - Budapest, Hungary
Duration: Nov 12 2009Nov 14 2009

Other

Other10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009
CountryHungary
CityBudapest
Period11/12/0911/14/09

Fingerprint

Force control
Degrees of freedom (mechanics)
Cranes
Dynamic models
Damping
Trajectories
Derivatives

Keywords

  • Adaptive control
  • Cauchy sequences
  • Fixed point transformations
  • Iterative learning
  • Local basin of attraction

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

Cite this

Tar, J., Rudas, I., Bitó, J. F., Tenreiro Machado, J. A., & Kozłowski, K. R. (2009). A higher order adaptive approach to tackle the swinging problem. In 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009 (pp. 145-153)

A higher order adaptive approach to tackle the swinging problem. / Tar, J.; Rudas, I.; Bitó, János F.; Tenreiro Machado, José A.; Kozłowski, Krzysztof R.

10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. 2009. p. 145-153.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J, Rudas, I, Bitó, JF, Tenreiro Machado, JA & Kozłowski, KR 2009, A higher order adaptive approach to tackle the swinging problem. in 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. pp. 145-153, 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009, Budapest, Hungary, 11/12/09.
Tar J, Rudas I, Bitó JF, Tenreiro Machado JA, Kozłowski KR. A higher order adaptive approach to tackle the swinging problem. In 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. 2009. p. 145-153
Tar, J. ; Rudas, I. ; Bitó, János F. ; Tenreiro Machado, José A. ; Kozłowski, Krzysztof R. / A higher order adaptive approach to tackle the swinging problem. 10th International Symposium of Hungarian Researchers on Computational Intelligence and Informatics, CINTI 2009. 2009. pp. 145-153
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