Negative imaginary theorem with an application to robust control of a crane system
This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The...
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my.utm.700492017-11-22T00:45:07Z http://eprints.utm.my/id/eprint/70049/ Negative imaginary theorem with an application to robust control of a crane system Abdullahi, A. M. Mohamed, Z. Abidin, M. S. Z. Akmeliawati, R. Husain, A. R. Bature, A. A. Haruna, A. TJ Mechanical engineering and machinery This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller), designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme. Penerbit UTM Press 2016 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/70049/1/AuwaluMAbdullahi2016_NegativeImaginaryTheoremWithanApplication.pdf Abdullahi, A. M. and Mohamed, Z. and Abidin, M. S. Z. and Akmeliawati, R. and Husain, A. R. and Bature, A. A. and Haruna, A. (2016) Negative imaginary theorem with an application to robust control of a crane system. Jurnal Teknologi, 78 (42532). pp. 33-39. ISSN 0127-9696 https://www.scopus.com |
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TJ Mechanical engineering and machinery Abdullahi, A. M. Mohamed, Z. Abidin, M. S. Z. Akmeliawati, R. Husain, A. R. Bature, A. A. Haruna, A. Negative imaginary theorem with an application to robust control of a crane system |
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This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller), designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme. |
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Article |
author |
Abdullahi, A. M. Mohamed, Z. Abidin, M. S. Z. Akmeliawati, R. Husain, A. R. Bature, A. A. Haruna, A. |
author_facet |
Abdullahi, A. M. Mohamed, Z. Abidin, M. S. Z. Akmeliawati, R. Husain, A. R. Bature, A. A. Haruna, A. |
author_sort |
Abdullahi, A. M. |
title |
Negative imaginary theorem with an application to robust control of a crane system |
title_short |
Negative imaginary theorem with an application to robust control of a crane system |
title_full |
Negative imaginary theorem with an application to robust control of a crane system |
title_fullStr |
Negative imaginary theorem with an application to robust control of a crane system |
title_full_unstemmed |
Negative imaginary theorem with an application to robust control of a crane system |
title_sort |
negative imaginary theorem with an application to robust control of a crane system |
publisher |
Penerbit UTM Press |
publishDate |
2016 |
url |
http://eprints.utm.my/id/eprint/70049/1/AuwaluMAbdullahi2016_NegativeImaginaryTheoremWithanApplication.pdf http://eprints.utm.my/id/eprint/70049/ https://www.scopus.com |
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