Model-Based Adaptive Predictive Control with Visual Servo of a Rotary Crane System

摘要

This paper investigated the implementation of an adaptive predictive controller using nonlinear dynamic echo state neural (ESN) model for a rotary crane system by the visual servo method.The control sequences within the control horizon were described using cubic spline interpolation to enlarge the predictive horizon.Verification of the proposed scheme in the face of exogenous disturbances and modeling error with inaccurate string length was demonstrated by both simulations and experiments.