ITERATIVE LEARNING CONTROL APPLICATION TO A 3D CRANE SYSTEM

Radu-Emil Precup, Florin-Cristian Enache, Mircea-Bogdan Rădac, Emil M. Petriu, Claudia-Adina Dragoş, Stefan Preitl

Abstract

This paper deals with the application of an Iterative Learning Control (ILC) structure to the position control of a 3D crane system in the crane position control problem. The control system structure involves Cascade Learning (CL) built around control a loop with a frequency domain designed lead-lag controller. The parameters of the continuous-time real PD learning rule as lead-lag controller are set such that to fulfil the convergence condition of the CL process. A set of real-time experimental results concerning a 3D crane system laboratory equipment is offered to validate the new CL-based ILC structure.

References

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Paper Citation


in Harvard Style

Precup R., Enache F., Rădac M., Petriu E., Dragoş C. and Preitl S. (2011). ITERATIVE LEARNING CONTROL APPLICATION TO A 3D CRANE SYSTEM . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-74-4, pages 117-122. DOI: 10.5220/0003537301170122


in Bibtex Style

@conference{icinco11,
author={Radu-Emil Precup and Florin-Cristian Enache and Mircea-Bogdan Rădac and Emil M. Petriu and Claudia-Adina Dragoş and Stefan Preitl},
title={ITERATIVE LEARNING CONTROL APPLICATION TO A 3D CRANE SYSTEM},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2011},
pages={117-122},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003537301170122},
isbn={978-989-8425-74-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ITERATIVE LEARNING CONTROL APPLICATION TO A 3D CRANE SYSTEM
SN - 978-989-8425-74-4
AU - Precup R.
AU - Enache F.
AU - Rădac M.
AU - Petriu E.
AU - Dragoş C.
AU - Preitl S.
PY - 2011
SP - 117
EP - 122
DO - 10.5220/0003537301170122