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...
| Main Authors: | , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
AIP Publishing LLC
2011
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/1189/1/C12.pdf |
| _version_ | 1825821082092830720 |
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| 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 |
| collection | UMP |
| 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. |
| first_indexed | 2024-03-06T11:36:11Z |
| format | Conference or Workshop Item |
| id | UMPir1189 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:36:11Z |
| publishDate | 2011 |
| publisher | AIP Publishing LLC |
| record_format | dspace |
| spelling | UMPir11892018-02-05T07:51:49Z 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 (Published) http://dx.doi.org/10.1063/1.3592451 |
| 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 |
| title | 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_short | 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 |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/1189/1/C12.pdf |
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