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

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..


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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.

Item Type: Conference or Workshop Item (Speech)
Additional Information: Conference Proceeding ISBN- 978-142442887-8 IEEE DOI: 10.1109/CITISIA.2009.5224166
Uncontrolled Keywords: Controllers; Fuzzy logic; Fuzzy sets; Gantry cranes; Industrial applications; Intelligent systems; Simulators
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Siti Aishah Ghani
Date Deposited: 25 Apr 2012 03:38
Last Modified: 06 Feb 2018 07:47
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