A Neural Network Control for 3-D Overhead Gantry Crane System With Uncertain Load Disturbance

In the present work, the adaptive neural network controlling technique is considered in order to have tracking control of a 3-D overhead gantry crane system which uses in industry to transport heavy loads. The dynamic equation used in this paper is based on close form equations of motion, made by lagrangian method. To control this system, a proper control law was conceived and used. With the aim of having an experimental condition in common with the real condition, the controller is designed in the appearance of load disturbance. The Simulation results substantiate the accuracy and the similarity between the desired values and the tracked ones

کلیدواژه ها:

adaptive neural network ، gantry crane ، uncertainty