A hybrid partial feedback linearization and deadbeat control scheme for a nonlinear gantry crane

Hamdy, Mohamed; Shalaby, Raafat; Sallam, Mostafa

doi:10.1016/j.jfranklin.2018.06.014

Cited by 48 publications

(17 citation statements)

References 23 publications

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“…Other controllers such as feedback linearization, state feedback, etc. don't have high accuracy for this kind of extreemly nonlinear dynamics and may not be applicable because of the existance of discountinus functions in the dynamics [29][30][31][32][33].…”

Section: Brief Surveymentioning

confidence: 99%

Fixed time terminal sliding mode trajectory tracking design for a class of nonlinear dynamical model of air cushion vehicle

Karami

Ghasemi

2019

SN Appl. Sci.

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This manuscript proposes a robust fixed time terminal sliding mode prototype for trajectory tracking of the nonlinear dynamics of an under-actuated air cushion vehicle. Nonlinearity, external disturbances, internal uncertainties and unmodeled dynamics are the main difficulties that an amphibious vehicle is faced with in its maneuver. The main contribution of the proposed methodology is to overcome these problems based on both the guaranteed stability in sense of Lyapunov and the fixed time tracking error even if the initial values are changed. Robustness against uncertainties and disturbances, fixed time convergence of tracking error to zero are other merits of the proposed approach. The simulation results demonstrate the effectiveness and superiority of suggested scheme.

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Section: Brief Surveymentioning

confidence: 99%

Fixed time terminal sliding mode trajectory tracking design for a class of nonlinear dynamical model of air cushion vehicle

Karami

Ghasemi

2019

SN Appl. Sci.

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“…Anti-sway control using PID controller has been investigated [11], and the development and management of Gantry Crane System using the Robust and State feedback controllers [12]. In addition, the study of the feedback control system investigated by researchers [13,14], and real-time trajectory control of an overhead crane using servo-constraints [15], and the optimal performance control mechanisms by optimizing the control parameters [16].…”

Section: Introductionmentioning

confidence: 99%

Optimal PID and fuzzy logic based position controller design of an overhead crane using the Bees Algorithm

2021

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Different industrial applications frequently use overhead cranes for moving and lifting huge loads. It applies to civil construction, metallurgical production, rivers, and seaports. The primary purpose of this paper is to control the motion/position of the overhead crane using a PID controller using Genetic Algorithms (GA) and Bee Algorithms (BA) as optimization tools. Moreover, Fuzzy Logic modified PID Controller is applied to obtain better controller parameters. The mathematical model uses an analytical method, and the PID model employs Simulink in MATLAB. The paper presents the PID parameters determination with a different approach. The development of membership functions, fuzzy rules employ the Fuzzy Logic toolbox. Both inputs and outputs use triangular membership functions. The result shows that the optimized value of the PID controller with the Ziegler-Nichols approach is time-consuming and will provide only the initial parameters. However, PID parameters obtained with the optimization method using GA and BA reached the target values. The results obtained with the fuzzy logic controller (0.227% overshoot) show improvement in overshoot than the conventional PID controller (0.271% overshoot).

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“…Model predictive control in combination with disturbance predictor is used in [3] for control of the crane system with strong disturbances and uncertainties. In [4], the hybrid partial feedback linearization and deadbeat control scheme is applied to control the crane. In this research, a deadbeat control is used to control and accelerate the position response, while partial feedback linearization is in charge of minimizing and stabilizing the sway angle.…”

Section: Introductionmentioning

confidence: 99%

Payload motion control for a varying length flexible gantry crane

2021

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Cranes play a very important role in transporting heavy loads in various industries. However, because of its natural swinging characteristics, the control of crane needs to be considered carefully. This paper presents a control approach to a flexible cable crane system in consideration of both rope length varying and system constraints. At first, from Hamilton's extended principle the equations of motion that characterized coupled transverse-transverse motions with varying rope length of the gantry are obtained. The equations of motion consist of a system of partial differential equations. Then, a barrier Lyapunov function is used to derive the control located at the trolley end that can precisely position the gantry payload and minimize vibrations. The designed control is verified through extensive experimental studies.

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A hybrid partial feedback linearization and deadbeat control scheme for a nonlinear gantry crane

Cited by 48 publications

References 23 publications

Fixed time terminal sliding mode trajectory tracking design for a class of nonlinear dynamical model of air cushion vehicle

Fixed time terminal sliding mode trajectory tracking design for a class of nonlinear dynamical model of air cushion vehicle

Optimal PID and fuzzy logic based position controller design of an overhead crane using the Bees Algorithm

Payload motion control for a varying length flexible gantry crane

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