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Authors: Radu-Emil Precup 1 ; Florin-Cristian Enache 1 ; Mircea-Bogdan Rădac 1 ; Emil M. Petriu 2 ; Claudia-Adina Dragoş 1 and Stefan Preitl 1

Affiliations: 1 “Politehnica” University of Timisoara, Romania ; 2 University of Ottawa, Canada

Keyword(s): 3D crane system, Cascade Learning, Design approach, Iterative Learning Control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Optimization Algorithms

Abstract: This paper deals with the application of an Iterative Learning Control (ILC) structure to the position control of a 3D crane system in the crane position control problem. The control system structure involves Cascade Learning (CL) built around control a loop with a frequency domain designed lead-lag controller. The parameters of the continuous-time real PD learning rule as lead-lag controller are set such that to fulfil the convergence condition of the CL process. A set of real-time experimental results concerning a 3D crane system laboratory equipment is offered to validate the new CL-based ILC structure.

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Paper citation in several formats:
Precup, R.; Enache, F.; Rădac, M.; Petriu, E.; Dragoş, C. and Preitl, S. (2011). ITERATIVE LEARNING CONTROL APPLICATION TO A 3D CRANE SYSTEM. In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-74-4; ISSN 2184-2809, SciTePress, pages 117-122. DOI: 10.5220/0003537301170122

@conference{icinco11,
author={Radu{-}Emil Precup. and Florin{-}Cristian Enache. and Mircea{-}Bogdan Rădac. and Emil M. Petriu. and Claudia{-}Adina Dragoş. and Stefan Preitl.},
title={ITERATIVE LEARNING CONTROL APPLICATION TO A 3D CRANE SYSTEM},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2011},
pages={117-122},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003537301170122},
isbn={978-989-8425-74-4},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - ITERATIVE LEARNING CONTROL APPLICATION TO A 3D CRANE SYSTEM
SN - 978-989-8425-74-4
IS - 2184-2809
AU - Precup, R.
AU - Enache, F.
AU - Rădac, M.
AU - Petriu, E.
AU - Dragoş, C.
AU - Preitl, S.
PY - 2011
SP - 117
EP - 122
DO - 10.5220/0003537301170122
PB - SciTePress