Closed-loop schemes for position and sway control of a gantry crane system
This paper presents the investigation into the performance of Lyapunov pole placement (LPP), linear quadratic regulator (LQR) and proportional-integral-derivative (PID) control schemes for payload sway control and trolley position tracking of a gantry crane system. A 2D gantry crane system is consid...
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2016
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my.utm.744222017-11-30T01:03:31Z http://eprints.utm.my/id/eprint/74422/ Closed-loop schemes for position and sway control of a gantry crane system Alhassan, A. Danapalasingam, K. A. Shehu, M. Abdullahi, A. M. Shehu, A. TK Electrical engineering. Electronics Nuclear engineering This paper presents the investigation into the performance of Lyapunov pole placement (LPP), linear quadratic regulator (LQR) and proportional-integral-derivative (PID) control schemes for payload sway control and trolley position tracking of a gantry crane system. A 2D gantry crane system is considered. The nonlinear model of the system is derived using the Lagrangian energy equation and then linearized using Taylor’s series expansion. To investigate the performances of the designed controllers, a unit step input as a reference perturbation is applied to the controllers. MATLAB simulation results of the responses are analysed in time domain. The response time specifications of the trolley position, level of payload sway reduction, and robustness to parameter variation and uncertainties are used to assess the performances of the controllers. UK Simulation Society 2016 Article PeerReviewed Alhassan, A. and Danapalasingam, K. A. and Shehu, M. and Abdullahi, A. M. and Shehu, A. (2016) Closed-loop schemes for position and sway control of a gantry crane system. International Journal of Simulation: Systems, Science and Technology, 17 (32). ISSN 1473-8031 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85005973863&doi=10.5013%2fIJSSST.a.17.32.28&partnerID=40&md5=1efba629369fdd2460fdfe8217330acb |
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TK Electrical engineering. Electronics Nuclear engineering Alhassan, A. Danapalasingam, K. A. Shehu, M. Abdullahi, A. M. Shehu, A. Closed-loop schemes for position and sway control of a gantry crane system |
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This paper presents the investigation into the performance of Lyapunov pole placement (LPP), linear quadratic regulator (LQR) and proportional-integral-derivative (PID) control schemes for payload sway control and trolley position tracking of a gantry crane system. A 2D gantry crane system is considered. The nonlinear model of the system is derived using the Lagrangian energy equation and then linearized using Taylor’s series expansion. To investigate the performances of the designed controllers, a unit step input as a reference perturbation is applied to the controllers. MATLAB simulation results of the responses are analysed in time domain. The response time specifications of the trolley position, level of payload sway reduction, and robustness to parameter variation and uncertainties are used to assess the performances of the controllers. |
format |
Article |
author |
Alhassan, A. Danapalasingam, K. A. Shehu, M. Abdullahi, A. M. Shehu, A. |
author_facet |
Alhassan, A. Danapalasingam, K. A. Shehu, M. Abdullahi, A. M. Shehu, A. |
author_sort |
Alhassan, A. |
title |
Closed-loop schemes for position and sway control of a gantry crane system |
title_short |
Closed-loop schemes for position and sway control of a gantry crane system |
title_full |
Closed-loop schemes for position and sway control of a gantry crane system |
title_fullStr |
Closed-loop schemes for position and sway control of a gantry crane system |
title_full_unstemmed |
Closed-loop schemes for position and sway control of a gantry crane system |
title_sort |
closed-loop schemes for position and sway control of a gantry crane system |
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UK Simulation Society |
publishDate |
2016 |
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http://eprints.utm.my/id/eprint/74422/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85005973863&doi=10.5013%2fIJSSST.a.17.32.28&partnerID=40&md5=1efba629369fdd2460fdfe8217330acb |
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13.160551 |