Abstract
A hybrid control approach is proposed to achieve the desired performance. Firstly a robust input shaper is designed to reduce the transient vibration and residual vibration of the container efficiently. Then a simple fuzzy logic controller is designed to eliminate the residual vibration completely in order to guarantee the positioning precision. Such a hybrid approach is simple in structure and readily realizable. Simulation results verify the fine performance of this hybrid control approach. It can achieve perfect elimination of residual vibration and concise positioning of the container load, and it is robust to parameter variations (mainly for cable length) and external disturbances.
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