The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System
This paper presents investigations into the development of PD-type Fuzzy Logic Control with different polarities input shaping for anti-sway 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 Eul...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/2452/1/CITISIA2009_II.pdf |
| _version_ | 1825821267038568448 |
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| author | Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Anwar, Zawawi |
| author_facet | Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Anwar, Zawawi |
| author_sort | Mohd Ashraf, Ahmad |
| collection | UMP |
| description | This paper presents investigations into the
development of PD-type Fuzzy Logic Control with different
polarities input shaping for anti-sway 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 PD-type Fuzzy Logic
Control is developed for cart position control of gantry crane.
This is then extended to incorporate input shaper control
schemes for anti-sway control of the system. The positive and
modified specified negative amplitude (SNA) input shapers
with the derivative effects respectively are designed based on
the properties of the system. Simulation results of the response
of the system 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,
swing angle reduction, time response specifications and
robustness to parameters uncertainty in comparison to the PD-
type Fuzzy Logic control. Finally, a comparative assessment of
the amplitude polarities of the input shapers to the system
performance is presented and discussed. |
| first_indexed | 2024-03-06T11:38:57Z |
| format | Conference or Workshop Item |
| id | UMPir2452 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:38:57Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | UMPir24522018-02-06T07:47:35Z http://umpir.ump.edu.my/id/eprint/2452/ The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Anwar, Zawawi TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of PD-type Fuzzy Logic Control with different polarities input shaping for anti-sway 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 PD-type Fuzzy Logic Control is developed for cart position control of gantry crane. This is then extended to incorporate input shaper control schemes for anti-sway control of the system. The positive and modified specified negative amplitude (SNA) input shapers with the derivative effects respectively are designed based on the properties of the system. Simulation results of the response of the system 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, swing angle reduction, time response specifications and robustness to parameters uncertainty in comparison to the PD- type Fuzzy Logic control. Finally, a comparative assessment of the amplitude polarities of the input shapers to the system performance is presented and discussed. 2009 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2452/1/CITISIA2009_II.pdf Mohd Ashraf, Ahmad and Mohd Syakirin, Ramli and Raja Mohd Taufika, Raja Ismail and Ahmad Nor Kasruddin, Nasir and Mohd Anwar, Zawawi (2009) The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System. In: Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2009 , 25-26 July, 2009 , Kuala Lumpur. pp. 452-457.. (Published) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Mohd Syakirin, Ramli Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Anwar, Zawawi The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System |
| title | The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System
|
| title_full | The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System
|
| title_fullStr | The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System
|
| title_full_unstemmed | The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System
|
| title_short | The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System
|
| title_sort | investigations of pd type fuzzy logic with different polarities input shaping for anti sway control of a gantry crane system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/2452/1/CITISIA2009_II.pdf |
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