Anti-sway control of an ATC using NN predictive PID control

• Main Authors: Jin Ho Suh, Jin Woo Lee, Young Jin Lee, Kwon Soon Lee
• Format: Conference Proceeding
• Language: English
• Subjects: Applied sciences; Artificial intelligence; Automatic control; Computer science; control theory; systems; Connectionism. Neural networks; Containers; Control system analysis; Control systems; Control theory. Systems; Costs; Cranes; Electric, optical and optoelectronic circuits; Electrical engineering. Electrical power engineering; Electrical machines; Electronics; Exact sciences and technology; Instruments; Neural networks; Regulation and control; Robust control; Stacking; Three-term control
• DOI: 10.1109/IECON.2004.1432289

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the final coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm proposed in this study can be readily used for industrial applications.