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

Zhi Ren Tsai, Yau Zen Chang*

*此作品的通信作者

研究成果: 期刊稿件文章同行評審

摘要

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.

原文英語
頁(從 - 到)169-174
頁數6
期刊Journal of Electronic Science and Technology
16
發行號2
DOIs
出版狀態已出版 - 06 2018

文獻附註

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

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