Abstract
In this paper we propose a neuro-controller (NC) for suppression of load swing with disturbance in a crane system rotaring around the vertical axis. As in a nonholonomic system, the traditional control method using a static continuous state feedback law cannot stabilize the load swing. It is necessary to design a time-varying feedback controller or a discontinuous feedback controller. Previous research had been successful in constructing the suppression controller of the load swing with a single initial rotation angle when disturbance appeared. In this paper, the performance of the NC optimized by genetic algorithm will be examined with three initial rotation angles.
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