Takagi‐Sugeno Fuzzy Modeling and PSO‐Based Robust LQR Anti‐Swing Control for Overhead Crane

Shao, Xuejuan; Zhang, Jinggang; Zhang, Xueliang

doi:10.1155/2019/4596782

Cited by 22 publications

(18 citation statements)

References 31 publications

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“…The researchers in [5], developed a combination of PID-PI controller for the crane system to minimize the pendulum-like settings which caused many difficulties and dangerous conditions with new performance criterion function that used to tune the PID-PD controller using PSO algorithm. X. Shao et al [6], proposed a Takagi-Sugeno (T-S) fuzzy modeling and robust Linear Quadratic Regulator (LQR) based PSO algorithm for positioning and anti-swing control for the system.…”

Section: Introductionmentioning

confidence: 99%

Controller design for gantry crane system using modified sine cosine optimization algorithm

Abbas

Mahmood

2021

TELKOMNIKA

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The objective of this research paper is to design a control system to optimize the operating works of the gantry crane system. The dynamic model of the gantry crane system is derived in terms of trolley position and payload oscillation, which is highly nonlinear. The crane system should have the capability to transfer the material to destination end with desired speed along with reducing the load oscillation, obtain expected trolley position and preserving the safety. Proposed controlling method is based on the proportional-integral-derivative (PID) controller with a series differential compensator to control the swinging of the payload and the system trolley movement in order to perform the optimum utilization of the gantry crane. Standard sine cosine optimization algorithm is one of the most-recent optimization techniques based on a stochastic algorithm was presented to tune the PID controller with a series differential compensator. Furthermore, the considered optimization algorithm is modified in order to overcome the inherent drawbacks and solve complex benchmark test functions and to find the optimal design's parameters of the proposed controller. The simulation results show that the modified sine cosine optimization algorithm has better global search performance and exhibits good computational robustness based on test functions. Moreover, the results of testing the gantry crane model reveal that the proposed controller with standard and modified algorithms is effective, feasible and robust in achieving the desired requirements.

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Section: Introductionmentioning

confidence: 99%

Controller design for gantry crane system using modified sine cosine optimization algorithm

Abbas

Mahmood

2021

TELKOMNIKA

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“…The main drawback of these open-loop techniques is that they cannot cope with various external disturbances that exist in the actual operational environment. Hence, closed-loop control techniques such as proportional integral derivative (PID) and its invariants, 14–16 model predictive control (MPC), 17–19 sliding mode control (SMC), 20–22 adaptive control, 23–25 intelligent control 14,26,27 and instantaneous optimal control, 28 are more practical. Input saturation, as well as constraints on trolley velocity and sway angles for safety consideration, 9,19,29 are well-considered in the above controllers.…”

Section: Introductionmentioning

confidence: 99%

An energy-time optimal autonomous motion control framework for overhead cranes in the presence of obstacles

Wang

Liu

Dong

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper focuses on the autonomous motion control of 3-D underactuated overhead cranes in the presence of obstacles, and an “offline motion planning + online trajectory tracking” framework is developed. In the motion planner, to meet the balance between transfer time and energy consumption, the transfer mission is formulated as an energy-time hybrid optimal control problem. And a simple and conservative collision-avoidance condition is derived. To achieve fast and robust calculations, an iterative procedure that determines optimal terminal time based on the secant method is developed. Finally, to realize the high-precision trajectory tracking and fast residual sway suppression, a model predictive controller with a piecewise weighted matrix is designed. Numerical simulation demonstrates that the discussed framework is effective.

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“…However, in general, the open-loop control system can not guarantee the good performance in the case of system uncertainties and external disturbances. Therefore, many closed-loop control techniques are applied to the overhead crane system to improve the performance such as nonlinear feedback [7][8][9][10][11], partial feedback linearization [12,13], fuzzy logic control [14][15][16][17], sliding mode control [18][19][20][21] and so on.…”

Section: Introductionmentioning

confidence: 99%

LMI based antiswing adaptive controller for uncertain overhead cranes

2020

IJECE

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This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, position tracking, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.

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Takagi‐Sugeno Fuzzy Modeling and PSO‐Based Robust LQR Anti‐Swing Control for Overhead Crane

Cited by 22 publications

References 31 publications

Controller design for gantry crane system using modified sine cosine optimization algorithm

Controller design for gantry crane system using modified sine cosine optimization algorithm

An energy-time optimal autonomous motion control framework for overhead cranes in the presence of obstacles

LMI based antiswing adaptive controller for uncertain overhead cranes

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