Abstract
Swinging on the shifted load by overhead crane is one of the main problems that all researchers suffer from. In addition, the crane system is a nonlinear and under-actuated system. Furthermore it is multivariable problem and it has coupling between its parameters (x, . In this work, a developed type of anti-sway Backstepping controller is proposed to solve swinging on the shifted load for full non-linear overhead crane system. Simulation results were validated against the related articles previously published which used Fuzzy Logic control. The enhancement is measured for Backstepping control as a swinging to achieve 50.7%, 38.1% and 42.5% when it is compared with Fuzzy Logic control. The performance of the overhead crane is enhanced from 70.4% to 51% at the control action consumptions.
Highlights
Overhead cranes are widely used in factories and ports because it has the capability of shifting loads with very high mass
Fuzzy logic is used as an anti-sway controller and Nominal Characteristic Trajectory Following (NCTF) controller for the position control
The proposed controller is compared with modelbased PID and non-model based Fuzzy Logic and the result show that the proposed controller is more effective for each swinging and positioning
Summary
Overhead cranes are widely used in factories and ports because it has the capability of shifting loads with very high mass. The proposed controller is compared with modelbased PID and non-model based Fuzzy Logic and the result show that the proposed controller is more effective for each swinging and positioning. Al-saedi introduced a design of feedforward and feedback controller to make the overhead crane move rapidly with small sway angle by adding a Fuzzy Logic to the controller for improving the system efficiency. The control systems which are used moved with high velocity and this causes a high swaying and high power consumptions due to the damage to the load and safety accidents The problem in this system model is how to design a controller to reduce the swaying, reduces the power consumptions, and guarantee the stability of overall system. The aim is to guarantee asymptotic stability of swaying in the load controlled by Backstepping controller such that all errors converge to their corresponding equilibrium points
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