Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system
Joint Authors
Miri, Abbas H.
Mary, Ali Husayn
Miry, Mohammed H.
Kara, T.
Source
Journal of Engineering Research
Issue
Vol. 9, Issue 3 A (30 Sep. 2021), pp.197-208, 12 p.
Publisher
Kuwait University Academic Publication Council
Publication Date
2021-09-30
Country of Publication
Kuwait
No. of Pages
12
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper proposes a robust control scheme for an underactuated crane system.
The presented scheme contains two control strategies, feedback control term and corrective control term, based on Radial Basis Function (RBF) neural networks.
A feedback control term is deigned based on the nominal dynamic model of the controlled system.
RBF neural networks have been used as adaptive control term to compensate for the system uncertainties and external disturbance.
Lyapunov stability theorem has been used to derive updating laws for the weights of the RBF neural networks.
To illustrate the robustness and effectiveness of the proposed controller, Matlab program is used to simulate the model of the nonlinear overhead crane system with the proposed control method, taking into account system uncertainties and external disturbance.
Simulation results indicated superior control performance of the proposed control method compared to the other control methods used in the test.
American Psychological Association (APA)
Mary, Ali Husayn& Miri, Abbas H.& Kara, T.& Miry, Mohammed H.. 2021. Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system. Journal of Engineering Research،Vol. 9, no. 3 A, pp.197-208.
https://search.emarefa.net/detail/BIM-1494905
Modern Language Association (MLA)
Kara, T.…[et al.]. Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system. Journal of Engineering Research Vol. 9, no. 3 A (Sep. 2021), pp.197-208.
https://search.emarefa.net/detail/BIM-1494905
American Medical Association (AMA)
Mary, Ali Husayn& Miri, Abbas H.& Kara, T.& Miry, Mohammed H.. Nonlinear state feedback controller combined with RBF for nonlinear underactuated overhead crane system. Journal of Engineering Research. 2021. Vol. 9, no. 3 A, pp.197-208.
https://search.emarefa.net/detail/BIM-1494905
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 208
Record ID
BIM-1494905