Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange f...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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2010
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| Online Access: | http://umpir.ump.edu.my/id/eprint/2435/ http://umpir.ump.edu.my/id/eprint/2435/2/Investigations_of_NCTF_with_input_shaping_for_sway_control_of_a_Double-Pendulum-Type_Overhead_Crane_%281%29.pdf |
| _version_ | 1848817053012590592 |
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| author | Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli |
| author_facet | Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli |
| author_sort | Mohd Ashraf, Ahmad |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC 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 nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate input shaping schemes for anti-swaying control of the system. The positive input shaper with different orders was design based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented. |
| first_indexed | 2025-11-15T01:15:39Z |
| format | Conference or Workshop Item |
| id | ump-2435 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:15:39Z |
| publishDate | 2010 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-24352018-02-06T01:03:15Z http://umpir.ump.edu.my/id/eprint/2435/ Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli TK Electrical engineering. Electronics Nuclear engineering This paper presents investigations into the development of hybrid control schemes for trajectory tracking and anti-swaying control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC 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 nominal characteristics following trajectory following (NCTF) is developed for position control of cart movement. The controller design, which is comprised of a nominal characteristic trajectory (NCT) and PI compensator, is used to make the cart motion follow the NCT. This is then extended to incorporate input shaping schemes for anti-swaying control of the system. The positive input shaper with different orders was design based on properties of the system. The results of the response with the controllers are presented in time and frequency domains. The performances of hybrid control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specifications in comparison to NCTF controller. Finally, a comparative assessment of the control techniques is discussed and presented. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2435/2/Investigations_of_NCTF_with_input_shaping_for_sway_control_of_a_Double-Pendulum-Type_Overhead_Crane_%281%29.pdf Mohd Ashraf, Ahmad and Raja Mohd Taufika, Raja Ismail and Mohd Syakirin, Ramli (2010) Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane. In: 2nd IEEE International Conference on Advanced Computer Control, ICACC 2010 , 27-29 March 2010 , Shenyang. pp. 456-461.. (Published) http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5486817 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Raja Mohd Taufika, Raja Ismail Mohd Syakirin, Ramli Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane |
| title | Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
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| title_full | Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
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| title_fullStr | Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
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| title_full_unstemmed | Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
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| title_short | Investigations Of NCTF With Input Shaping For Sway Control Of A Double-Pendulum-Type Overhead Crane
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| title_sort | investigations of nctf with input shaping for sway control of a double-pendulum-type overhead crane |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/2435/ http://umpir.ump.edu.my/id/eprint/2435/ http://umpir.ump.edu.my/id/eprint/2435/2/Investigations_of_NCTF_with_input_shaping_for_sway_control_of_a_Double-Pendulum-Type_Overhead_Crane_%281%29.pdf |