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Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation

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dc.contributor.authorOmar, Hanafy M.en
dc.contributor.authorNayfeh, Ali H.en
dc.contributor.departmentBiomedical Engineering and Mechanicsen
dc.date.accessioned2017-09-18T10:07:57Zen
dc.date.available2017-09-18T10:07:57Zen
dc.date.issued2005-01-01en
dc.date.updated2017-09-18T10:07:57Zen
dc.description.abstractWe designed a feedback controller to automate crane operations by controlling the load position and its swing. First, a PD tracking controller is designed to follow a prescribed trajectory. Then, another controller is added to the control loop to damp the load swing. The anti-swing controller is designed based on two techniques: a time-delayed feedback of the load swing angle and an anti-swing fuzzy logic controller (FLC). The rules of the FLC are generated by mapping the performance of the time-delayed feedback controller. The same mapping method used for generating the rules can be applied to mimic the performance of an expert operator. The control algorithms were designed for gantry cranes and then extended to tower cranes by considering the coupling between the translational and rotational motions. Experimental results show that the controller is effective in reducing load oscillations and transferring the load in a reasonable time. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction and then applied a control action to cancel it. The friction force was estimated by assuming a mathematical model and then estimating the model coefficients using an off-line identification technique, the method of least squares (LS).en
dc.description.versionPublished versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationH.M. Omar and A.H. Nayfeh, “Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation,” Shock and Vibration, vol. 12, no. 2, pp. 73-89, 2005. doi:10.1155/2005/890127en
dc.identifier.doihttps://doi.org/10.1155/2005/890127en
dc.identifier.urihttp://hdl.handle.net/10919/79090en
dc.language.isoenen
dc.publisherHindawien
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.holderThis is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.en
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.titleAnti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensationen
dc.title.serialShock and Vibrationen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten

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