Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC

This paper presents a comparative assessment of feed-forward schemes in hybrid control schemes for anti-swaying and trajectory tracking 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-Lagra...

Full description

Bibliographic Details
Main Authors:	Mohd Ashraf, Ahmad, Raja Mohd Taufika, Raja Ismail, Mohd Syakirin, Ramli
Format:	Conference or Workshop Item
Language:	English
Published:	2010
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2438/ http://umpir.ump.edu.my/id/eprint/2438/ http://umpir.ump.edu.my/id/eprint/2438/2/comparative_assessment_of_feed__ICIAS_2010.pdf

id	ump-2438
recordtype	eprints
spelling	ump-24382018-02-06T00:11:28Z http://umpir.ump.edu.my/id/eprint/2438/ Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper presents a comparative assessment of feed-forward schemes in hybrid control schemes for anti-swaying and trajectory tracking 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. To study the effectiveness of the controllers, initially nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate feed-forward schemes for anti-swaying control of the system. Feed-forward control schemes based on input shaper and filtering techniques are to be examined. The input shaper and filtering techniques with different orders were designed based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2438/2/comparative_assessment_of_feed__ICIAS_2010.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2010) Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC. In: International Conference on Intelligent and Advanced Systems, ICIAS 2010, 15-17 June 2010 , Kuala Lumpur, Malaysia. pp. 1-6.. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5716123&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3DComparative+Assessment+of+Feed-forward+Schemes+with+NCTF+for+Sway+and+Trajectory+Control+of+a+DPTOC
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 Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC
description	This paper presents a comparative assessment of feed-forward schemes in hybrid control schemes for anti-swaying and trajectory tracking 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. To study the effectiveness of the controllers, initially nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate feed-forward schemes for anti-swaying control of the system. Feed-forward control schemes based on input shaper and filtering techniques are to be examined. The input shaper and filtering techniques with different orders were designed based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented.
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	Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC
title_short	Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC
title_full	Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC
title_fullStr	Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC
title_full_unstemmed	Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC
title_sort	comparative assessment of feed-forward schemes with nctf for sway and trajectory control of a dptoc
publishDate	2010
url	http://umpir.ump.edu.my/id/eprint/2438/ http://umpir.ump.edu.my/id/eprint/2438/ http://umpir.ump.edu.my/id/eprint/2438/2/comparative_assessment_of_feed__ICIAS_2010.pdf
first_indexed	2023-09-18T21:56:14Z
last_indexed	2023-09-18T21:56:14Z
_version_	1777414097334173696

Comparative Assessment of Feed-forward Schemes with NCTF for Sway and Trajectory Control of a DPTOC

Similar Items