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Authors: T. J. J. van den Boom ; J. B. Klaassens and R. Meiland

Affiliation: Delft Center for Systems and Control, Netherlands

ISBN: 972-8865-29-5

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.

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Paper citation in several formats:
J. J. van den Boom T.; B. Klaassens J.; Meiland R. and (2005). REAL-TIME TIME-OPTIMAL CONTROL FOR A NONLINEAR CONTAINER CRANE USING A NEURAL NETWORK.In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 972-8865-29-5, pages 39-44. DOI: 10.5220/0001179800390044

@conference{icinco05,
author={T. {J. J. van den Boom} and J. {B. Klaassens} and R. Meiland},
title={REAL-TIME TIME-OPTIMAL CONTROL FOR A NONLINEAR CONTAINER CRANE USING A NEURAL NETWORK},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2005},
pages={39-44},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001179800390044},
isbn={972-8865-29-5},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - REAL-TIME TIME-OPTIMAL CONTROL FOR A NONLINEAR CONTAINER CRANE USING A NEURAL NETWORK
SN - 972-8865-29-5
AU - J. J. van den Boom, T.
AU - B. Klaassens, J.
AU - Meiland, R.
PY - 2005
SP - 39
EP - 44
DO - 10.5220/0001179800390044

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