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Lead-Lag Controller-Based Iterative Learning Control Algorithms for 3D Crane Systems

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Aspects of Computational Intelligence: Theory and Applications

Part of the book series: Topics in Intelligent Engineering and Informatics ((TIEI,volume 2))

Abstract

This chapter deals with the application of two Iterative Learning Control (ILC) structures to the position control of 3D crane systems. The control system structures are based on Cascade Learning (CL) and Previous and Current Cycle Learning (PCCL) which improve the control system performance with frequency domain designed lead-lag controllers for the x-axis and for the y-axis. The parameters of continuous-time real PD learning rules which are also implemented in real-world applications as lead-lag controllers are set such that to fulfill the convergence conditions of CL and PCCL. Elements of anti-swing control for the PCCL structure are discussed. Experimental results are given to solve the crane position control problem of a 3D crane system laboratory equipment.

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Author information

Authors and Affiliations

  1. Department of Automation and Applied Informatics, “Politehnica” University of Timisoara, Bd. V. Parvan 2, RO-300223, Timisoara, Romania

    Radu-Emil Precup, Florin-Cristian Enache, Mircea-Bogdan Rădac, Stefan Preitl & Claudia-Adina Dragoş

  2. School of Electrical Engineering and Computer Science, University of Ottawa, 80 0 King Edward, Ottawa, ON, K1N 6N5, Canada

    Emil M. Petriu

Authors
  1. Radu-Emil Precup
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  2. Florin-Cristian Enache
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  3. Mircea-Bogdan Rădac
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  4. Emil M. Petriu
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  5. Stefan Preitl
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  6. Claudia-Adina Dragoş
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Corresponding author

Correspondence to Radu-Emil Precup .

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Editors and Affiliations

  1. Dept. of Cybernetics, and Artificial Intelligence, Technical University of Košice, Letná 9, Košice, 04200, Slovakia

    Ladislav Madarász

  2. Faculty of Mechanical Engineering, Dept. of Biomedical Engineering, Technical University of Košice, Letná 9, Košice, 04200, Slovakia

    Jozef Živčák

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Precup, RE., Enache, FC., Rădac, MB., Petriu, E.M., Preitl, S., Dragoş, CA. (2013). Lead-Lag Controller-Based Iterative Learning Control Algorithms for 3D Crane Systems. In: Madarász, L., Živčák, J. (eds) Aspects of Computational Intelligence: Theory and Applications. Topics in Intelligent Engineering and Informatics, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30668-6_2

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  • DOI: https://doi.org/10.1007/978-3-642-30668-6_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-30667-9

  • Online ISBN: 978-3-642-30668-6

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