06098900

j

06098900 Yu, Wen Moreno-Armendariz, Marco A. Ortiz Rodriguez, Floriberto Stable adaptive compensation with fuzzy CMAC for an overhead crane. Inf. Sci. 181, No. 21, 4895-4907 (2011). 2011 Elsevier Science Inc. (North-Holland), New York, NY EN cerebellar model articulation controller neural compensation stability overhead crane

doi:10.1016/j.ins.2009.06.032

Summary: In order to control mechanical systems, this paper proposes a novel fast control strategy. The controller includes a normal proportional and derivative (PD) regulator and a fuzzy cerebellar model articulation controller (CMAC). For an overhead crane, this control can realize both position tracking and anti-swing. Using a Lyapunov method and an input-to-state stability technique, the PD control with CMAC compensation is proven to be robustly stable with bounded uncertainties. Real-time experiments are presented comparing this new stable control strategy with regular crane controllers.