0

Full Content is available to subscribers

Subscribe/Learn More  >

Tracking of a Target Payload via a Combination of Input Shaping, Zero Phase Error Tracking Control, and Fuzzy Logic

[+] Author Affiliations
Robert Schmidt, Matthew Begneaud, Joshua Vaughan

University of Louisiana at Lafayette, Lafayette, LA

Paper No. DSCC2016-9890, pp. V002T27A005; 10 pages
doi:10.1115/DSCC2016-9890
From:
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME

abstract

During crane operation, the task of retrieval and deployment of payloads can be partitioned into two components: the initial move towards the target or deployment location and the retrieval or deployment of the payload. If the payload is not stationary, as is the case in the retrieval of a sea-going vessel, a third component, tracking, must be included. The target payload in this research is an Autonomous Surface Vehicle (ASV) primarily used for surveying. This paper studies the transition between the initial move towards the payload and the initialization of tracking. Input Shaping is used to limit residual vibration caused by the initial move to the ASV. A set of Fuzzy Logic membership functions are then used to transition from the initial move to the tracking portion of the retrieval process. These membership functions map position and velocity error to a gain that is applied to the tracking controller. As the gain increases, the contribution of the tracking controller input is increased. Zero Phase Error Tracking Control is utilized for accurate tracking of the target payload. Through a combination of these control methods, the tracking accuracy is improved.

Copyright © 2016 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In