Optimal State Feedback Control of Container Crane Using RCGA Technique

Lee, Yun-Hyung; Yoo, Heui-Han; Cho, Kwon-Hae; So, Myung-Ok

Journal of Navigation and Port Research 2007;31(3):247-252.
Published online April 30, 2007.

RCGA 기법을 이용한 컨테이너 크레인의 최적 상태 피드백 제어

이윤형, 유희한, 조권회, 소명옥

Optimal State Feedback Control of Container Crane Using RCGA Technique

Yun-Hyung Lee, Heui-Han Yoo, Kwon-Hae Cho, Myung-Ok So

Abstract

The container crane is one of the most important equipments at container terminal. If its working time in cycle could be reduced then container terminal efficiency and service level can be increased So there are many efforts to reduce working time of container cranes. It means how to design the controller with good performance which has small overshoot and swing motion of container crane. We, in this paper, present a state feedback controller based on LQ theory incorporating a RCGA which means real-coded genetic algorithm RCGA can search state feedback gains under given objective function. A set of simulation works are carried out in order to prove the control effectiveness of the proposed methods.

Key Words: Container crane;Real-coded genetic algorithm;State feedback control;Objective function