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...

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Main Authors:	Mohd Ashraf, Ahmad, Mohd Syakirin, Ramli, Raja Mohd Taufika, Raja Ismail, Ahmad Nor Kasruddin, Nasir, Mohd Anwar, Zawawi
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2452/ http://umpir.ump.edu.my/id/eprint/2452/1/CITISIA2009_II.pdf

id	ump-2452
recordtype	eprints
spelling	ump-24522018-02-06T07:47:35Z 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..
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 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
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.
format	Conference or Workshop Item
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
title	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_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_sort	investigations of pd-type fuzzy logic with different polarities input shaping for anti-sway control of a gantry crane system
publishDate	2009
url	http://umpir.ump.edu.my/id/eprint/2452/ http://umpir.ump.edu.my/id/eprint/2452/1/CITISIA2009_II.pdf
first_indexed	2023-09-18T21:56:16Z
last_indexed	2023-09-18T21:56:16Z
_version_	1777414099207979008

The Investigations of PD-Type Fuzzy Logic with Different Polarities Input Shaping for Anti-Sway Control of A Gantry Crane System

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