Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane

This paper presents investigations into the development of composite control schemes for trajectory tracking and antisway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrang...

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Main Authors:	Mohd Ashraf, Ahmad, Muhammad Salihin, Saealal, Raja Mohd Taufika, Raja Ismail, Mohd Anwar, Zawawi, Ahmad Nor Kasruddin, Nasir, Mohd Syakirin, Ramli
Format:	Conference or Workshop Item
Language:	English
Published:	AIP Publishing LLC 2011
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/1189/ http://umpir.ump.edu.my/id/eprint/1189/ http://umpir.ump.edu.my/id/eprint/1189/1/C12.pdf

id	ump-1189
recordtype	eprints
spelling	ump-11892018-02-05T07:51:49Z http://umpir.ump.edu.my/id/eprint/1189/ Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Raja Mohd Taufika, Raja Ismail Mohd Anwar, Zawawi Ahmad Nor Kasruddin, Nasir Mohd Syakirin, Ramli TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of composite control schemes for trajectory tracking and antisway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate input shaping schemes for anti-swaying control of the system. The input shapers with different mode selection are designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented. AIP Publishing LLC 2011 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/1189/1/C12.pdf Mohd Ashraf, Ahmad and Muhammad Salihin, Saealal and Raja Mohd Taufika, Raja Ismail and Mohd Anwar, Zawawi and Ahmad Nor Kasruddin, Nasir and Mohd Syakirin, Ramli (2011) Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane. In: AIP Conference Proceedings: The 4th Global Conference On Power Control And Optimization, 02-04 December 2010 , Damai Puri, Kuching, Sarawak. p. 113., 1337. ISBN 978-0-7354-0893-7 http://dx.doi.org/10.1063/1.3592451
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Raja Mohd Taufika, Raja Ismail Mohd Anwar, Zawawi Ahmad Nor Kasruddin, Nasir Mohd Syakirin, Ramli Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane
description	This paper presents investigations into the development of composite control schemes for trajectory tracking and antisway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces the conventional two-input FLC (CFLC) to a single input single output (SISO) controller. The SIFLC is developed for position control of cart movement. This is then extended to incorporate input shaping schemes for anti-swaying control of the system. The input shapers with different mode selection are designed based on the properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to SIFLC controller. Finally, a comparative assessment of the control techniques is discussed and presented.
format	Conference or Workshop Item
author	Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Raja Mohd Taufika, Raja Ismail Mohd Anwar, Zawawi Ahmad Nor Kasruddin, Nasir Mohd Syakirin, Ramli
author_facet	Mohd Ashraf, Ahmad Muhammad Salihin, Saealal Raja Mohd Taufika, Raja Ismail Mohd Anwar, Zawawi Ahmad Nor Kasruddin, Nasir Mohd Syakirin, Ramli
author_sort	Mohd Ashraf, Ahmad
title	Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane
title_short	Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane
title_full	Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane
title_fullStr	Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane
title_full_unstemmed	Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane
title_sort	single input fuzzy controller with command shaping schemes for double-pendulum type overhead crane
publisher	AIP Publishing LLC
publishDate	2011
url	http://umpir.ump.edu.my/id/eprint/1189/ http://umpir.ump.edu.my/id/eprint/1189/ http://umpir.ump.edu.my/id/eprint/1189/1/C12.pdf
first_indexed	2023-09-18T21:54:07Z
last_indexed	2023-09-18T21:54:07Z
_version_	1777413964651560960

Single Input Fuzzy Controller With Command Shaping Schemes For Double-Pendulum Type Overhead Crane

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