Authors:
T. J. J. van den Boom
;
J. B. Klaassens
and
R. Meiland
Affiliation:
Delft Center for Systems and Control, Netherlands
Keyword(s):
Time-optimal crane control, Nonlinear Model Predictive Control, Optimization, binary search algorithm, neural networks, Bayesian regularization.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Neural Networks Based Control Systems
Abstract:
This paper considers time-optimal control for a container crane based on a Model Predictive Control approach. The model we use is nonlinear and it is planar, i.e. we only consider the swing (not the skew) and we take constraints on the input signal into consideration. Since the time required for the optimization makes time-optimal not suitable for fast systems and/or complex systems, such as the crane system we consider, we propose an off-line computation of the control law by using a neural network. After the neural network has been trained off-line, it can then be used in an on-line mode as a feedback control strategy.