Anti - swing control strategy for automatic 3 dof crane system using FLC
The 3 Degree-of-Freedom (DOF) crane represents one of the most widely deployed real-world platforms in the world today. It uses levers and pulleys for gripping, lifting and moving loads horizontally, as well as lowering and releasing the gripper to the original position. Hence the system produ...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2008
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| Online Access: | http://eprints.uthm.edu.my/7441/ http://eprints.uthm.edu.my/7441/1/24p%20RUSLINDA%20RUSLEE.pdf http://eprints.uthm.edu.my/7441/2/RUSLINDA%20RUSLEE%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7441/3/RUSLINDA%20RUSLEE%20WATERMARK.pdf |
| _version_ | 1848889102892531712 |
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| author | Ruslee, Ruslinda |
| author_facet | Ruslee, Ruslinda |
| author_sort | Ruslee, Ruslinda |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | The 3 Degree-of-Freedom (DOF) crane represents one of the most widely
deployed real-world platforms in the world today. It uses levers and pulleys for
gripping, lifting and moving loads horizontally, as well as lowering and releasing the
gripper to the original position. Hence the system produces swing angle which need to
be controlled so that the payload could be transferred efficiently. The existing 3 DOF
systems used conventional Linear Quadratic Regulator (LQR) controller to control the
position and swing angle. This project report proposed the usage of Fuzzy Logic
Controller (FLC) in place ofLQR controller. FLC has a simpler and practical design
approached. It avoids laborious mathematical formulation and computation thus
reducing operating time. The FLC performance for position control and anti-swing
control are compared with LQR controller using MA TLAB simulation. The simulation
results showed, under laboratory limitation, that FLC performed better compared to the
conventional LQR controller. |
| first_indexed | 2025-11-15T20:20:51Z |
| format | Thesis |
| id | uthm-7441 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English English English |
| last_indexed | 2025-11-15T20:20:51Z |
| publishDate | 2008 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-74412022-07-24T03:46:42Z http://eprints.uthm.edu.my/7441/ Anti - swing control strategy for automatic 3 dof crane system using FLC Ruslee, Ruslinda TJ Mechanical engineering and machinery TJ1350-1418 Hoisting and conveying machinery The 3 Degree-of-Freedom (DOF) crane represents one of the most widely deployed real-world platforms in the world today. It uses levers and pulleys for gripping, lifting and moving loads horizontally, as well as lowering and releasing the gripper to the original position. Hence the system produces swing angle which need to be controlled so that the payload could be transferred efficiently. The existing 3 DOF systems used conventional Linear Quadratic Regulator (LQR) controller to control the position and swing angle. This project report proposed the usage of Fuzzy Logic Controller (FLC) in place ofLQR controller. FLC has a simpler and practical design approached. It avoids laborious mathematical formulation and computation thus reducing operating time. The FLC performance for position control and anti-swing control are compared with LQR controller using MA TLAB simulation. The simulation results showed, under laboratory limitation, that FLC performed better compared to the conventional LQR controller. 2008-11 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/7441/1/24p%20RUSLINDA%20RUSLEE.pdf text en http://eprints.uthm.edu.my/7441/2/RUSLINDA%20RUSLEE%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/7441/3/RUSLINDA%20RUSLEE%20WATERMARK.pdf Ruslee, Ruslinda (2008) Anti - swing control strategy for automatic 3 dof crane system using FLC. Masters thesis, Universiti Tun Hussein Onn Malaysia. |
| spellingShingle | TJ Mechanical engineering and machinery TJ1350-1418 Hoisting and conveying machinery Ruslee, Ruslinda Anti - swing control strategy for automatic 3 dof crane system using FLC |
| title | Anti - swing control strategy for automatic 3 dof crane system using FLC |
| title_full | Anti - swing control strategy for automatic 3 dof crane system using FLC |
| title_fullStr | Anti - swing control strategy for automatic 3 dof crane system using FLC |
| title_full_unstemmed | Anti - swing control strategy for automatic 3 dof crane system using FLC |
| title_short | Anti - swing control strategy for automatic 3 dof crane system using FLC |
| title_sort | anti - swing control strategy for automatic 3 dof crane system using flc |
| topic | TJ Mechanical engineering and machinery TJ1350-1418 Hoisting and conveying machinery |
| url | http://eprints.uthm.edu.my/7441/ http://eprints.uthm.edu.my/7441/1/24p%20RUSLINDA%20RUSLEE.pdf http://eprints.uthm.edu.my/7441/2/RUSLINDA%20RUSLEE%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7441/3/RUSLINDA%20RUSLEE%20WATERMARK.pdf |