NDLI: Fuzzy-Model-Based Control of an Overhead Crane With Input Delay and Actuator Saturation

Content Provider	IEEE Xplore Digital Library
Author	Yan Zhao Huijun Gao
Copyright Year	1993
Abstract	This paper investigates the problem of a Takagi-Sugeno (T-S) fuzzy-model-based control of a nonlinear overhead crane system with input delay and actuator saturation. The complex nonlinear dynamic system of the crane is modeled as a three-rule T-S fuzzy model with a saturated input. Based on the fuzzy model, a state-feedback controller is designed so that trajectories of the system that start from an ellipsoid will remain in it, where a decay rate is introduced to accelerate the response speed. Besides, since the input delay often appears in real equipment, the delayed feedback control is also considered with respect to the actuator saturation. Delay-dependent existence conditions of the fuzzy controller are established such that the load can be placed in a desired position by the crane with a much suppressed swing angle, where trajectories of the closed-loop system that start from a bounded set will asymptotically converge to a contractively invariant ellipsoid. The results are formulated in the form of linear matrix inequalities, which can be readily solved via standard numerical software. Simulations on the true plant are illustrated to show the feasibility and effectiveness of the proposed control method.
Sponsorship	IEEE Computational Intelligence Society
Starting Page	181
Ending Page	186
Page Count	6
File Size	567771
File Format	PDF
ISSN	10636706
Volume Number	20
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cranes Delay Actuators Fuzzy systems Ellipsoids Linear matrix inequalities Numerical models Takagi–Sugeno (T–S) fuzzy models Actuator saturation attraction domain input delay overhead cranes
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Artificial Intelligence Control and Systems Engineering Computational Theory and Mathematics

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