Negative imaginary theorem with an application to robust control of a crane system

This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The...

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Main Authors:	Abdullahi, Auwalu M., Mohamed, Z, Zainal Abidin, M. S., Akmeliawati, Rini, Husain, A. R., Bature, Amir A., Haruna, Ado
Format:	Article
Language:	English
Published:	Universiti Teknologi Malaysia 2016
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/51196/ http://irep.iium.edu.my/51196/ http://irep.iium.edu.my/51196/ http://irep.iium.edu.my/51196/1/2016_JT_78_NI.pdf

id	iium-51196
recordtype	eprints
spelling	iium-511962017-01-03T03:52:12Z http://irep.iium.edu.my/51196/ Negative imaginary theorem with an application to robust control of a crane system Abdullahi, Auwalu M. Mohamed, Z Zainal Abidin, M. S. Akmeliawati, Rini Husain, A. R. Bature, Amir A. Haruna, Ado TJ212 Control engineering This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller), designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme. Universiti Teknologi Malaysia 2016 Article PeerReviewed application/pdf en http://irep.iium.edu.my/51196/1/2016_JT_78_NI.pdf Abdullahi, Auwalu M. and Mohamed, Z and Zainal Abidin, M. S. and Akmeliawati, Rini and Husain, A. R. and Bature, Amir A. and Haruna, Ado (2016) Negative imaginary theorem with an application to robust control of a crane system. Jurnal Teknologi, 78 (6-11). pp. 33-39. ISSN 0127–9696 E-ISSN 2180–3722 http://www.jurnalteknologi.utm.my/index.php/jurnalteknologi/article/view/9181/5470 10.11113/jt.v78.9181
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Abdullahi, Auwalu M. Mohamed, Z Zainal Abidin, M. S. Akmeliawati, Rini Husain, A. R. Bature, Amir A. Haruna, Ado Negative imaginary theorem with an application to robust control of a crane system
description	This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller), designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme.
format	Article
author	Abdullahi, Auwalu M. Mohamed, Z Zainal Abidin, M. S. Akmeliawati, Rini Husain, A. R. Bature, Amir A. Haruna, Ado
author_facet	Abdullahi, Auwalu M. Mohamed, Z Zainal Abidin, M. S. Akmeliawati, Rini Husain, A. R. Bature, Amir A. Haruna, Ado
author_sort	Abdullahi, Auwalu M.
title	Negative imaginary theorem with an application to robust control of a crane system
title_short	Negative imaginary theorem with an application to robust control of a crane system
title_full	Negative imaginary theorem with an application to robust control of a crane system
title_fullStr	Negative imaginary theorem with an application to robust control of a crane system
title_full_unstemmed	Negative imaginary theorem with an application to robust control of a crane system
title_sort	negative imaginary theorem with an application to robust control of a crane system
publisher	Universiti Teknologi Malaysia
publishDate	2016
url	http://irep.iium.edu.my/51196/ http://irep.iium.edu.my/51196/ http://irep.iium.edu.my/51196/ http://irep.iium.edu.my/51196/1/2016_JT_78_NI.pdf
first_indexed	2023-09-18T21:12:27Z
last_indexed	2023-09-18T21:12:27Z
_version_	1777411343408693248

Negative imaginary theorem with an application to robust control of a crane system

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