Model-based adaptive predictive control with visual servo of a rotary crane system

Zhi Ren Tsai; Yau Zen Chang

doi:10.11989/JEST.1674-862X.7092809

Model-based adaptive predictive control with visual servo of a rotary crane system

Zhi Ren Tsai, Yau Zen Chang^*

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Contribution to journal › Journal Article › peer-review

Abstract

This paper investigated the implementation of an adaptive predictive controller using nonlinear dynamic echo state neural (ESN) model for a rotary crane system by the visual servo method. The control sequences within the control horizon were described using cubic spline interpolation to enlarge the predictive horizon. Verification of the proposed scheme in the face of exogenous disturbances and modeling error with inaccurate string length was demonstrated by both simulations and experiments.

Original language	English
Pages (from-to)	169-174
Number of pages	6
Journal	Journal of Electronic Science and Technology
Volume	16
Issue number	2
DOIs	https://doi.org/10.11989/JEST.1674-862X.7092809
State	Published - 06 2018

Bibliographical note

Publisher Copyright:
© 2018, Journal of Electronic Science and Technology.

Keywords

Adaptive predictive controller
Echo state neural (ESN) model
Exogenous disturbances
Modeling error
Rotary crane

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10.11989/JEST.1674-862X.7092809

Cite this

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abstract = "This paper investigated the implementation of an adaptive predictive controller using nonlinear dynamic echo state neural (ESN) model for a rotary crane system by the visual servo method. The control sequences within the control horizon were described using cubic spline interpolation to enlarge the predictive horizon. Verification of the proposed scheme in the face of exogenous disturbances and modeling error with inaccurate string length was demonstrated by both simulations and experiments.",

keywords = "Adaptive predictive controller, Echo state neural (ESN) model, Exogenous disturbances, Modeling error, Rotary crane",

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KW - Exogenous disturbances

KW - Modeling error

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Model-based adaptive predictive control with visual servo of a rotary crane system

Abstract

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Keywords

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