Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment

This paper presents investigations into the development of hybrid control schemes for anti-swaying and input tracking control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study...

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Main Authors:	Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail, Mohd Syakirin, Ramli
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2451/ http://umpir.ump.edu.my/id/eprint/2451/1/AIM_2009.pdf

id	ump-2451
recordtype	eprints
spelling	ump-24512018-02-06T07:45:07Z http://umpir.ump.edu.my/id/eprint/2451/ Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of hybrid control schemes for anti-swaying and input tracking control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated PD-type Fuzzy Logic control is developed for cart position control of gantry crane. This is then extended to incorporate a non-collocated PID and an input shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the gantry crane with the controllers are presented in time and frequency domains. The performances of the control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to the PD-type Fuzzy Logic control. Finally, a comparative assessment of the control techniques is presented and discussed. 2009 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2451/1/AIM_2009.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2009) Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment. In: International Conference on Advanced Intelligent Mechatronics, AIM 2009, 14-17 July 2009 , Singapore. pp. 1792-1797..
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment
description	This paper presents investigations into the development of hybrid control schemes for anti-swaying and input tracking control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated PD-type Fuzzy Logic control is developed for cart position control of gantry crane. This is then extended to incorporate a non-collocated PID and an input shaper control schemes for anti-swaying control of the system. The positive input shapers with the derivative effects are designed based on the properties of the system. Simulation results of the response of the gantry crane with the controllers are presented in time and frequency domains. The performances of the control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to the PD-type Fuzzy Logic control. Finally, a comparative assessment of the control techniques is presented and discussed.
format	Conference or Workshop Item
author	Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli
author_facet	Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli
author_sort	Mohd Ashraf, Ahmad
title	Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment
title_short	Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment
title_full	Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment
title_fullStr	Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment
title_full_unstemmed	Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment
title_sort	hybrid input shaping and non-collocated pid control of a gantry crane system: comparative assessment
publishDate	2009
url	http://umpir.ump.edu.my/id/eprint/2451/ http://umpir.ump.edu.my/id/eprint/2451/1/AIM_2009.pdf
first_indexed	2023-09-18T21:56:15Z
last_indexed	2023-09-18T21:56:15Z
_version_	1777414099074809856

Hybrid Input Shaping and Non-collocated PID Control of a Gantry Crane System: Comparative Assessment

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