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/ http://umpir.ump.edu.my/id/eprint/2452/1/CITISIA2009_II.pdf |
| Summary: | 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. |
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