TY - GEN
T1 - Position and Swing Angle Control of Nonlinear Gantry Crane System
AU - Isa, Abdulbasid Ismail
AU - Hamza, Mukhtar Fatihu
AU - Adamu, Yusuf Abdullahi
AU - Adamu, Jamilu Kamilu
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - Crane systems are widely used in logistics due to their efficiency of transportation. The major control problem of gantry crane system is some oscillations while crying load to the desired location. This work developed Radial Basis Function Neural Network (RBFNN) supervised PID controller for position and swing (swing angle suppression) angle of crane system. The supervising RBFNN for position control has two inputs namely instantaneous values of position controller and crane position; while the supervising RBFNN for swing angle control is based on angular acceleration of the swing and anti-sway controller output. The simulation result showed that the proposed control is more robust to the testing conditions in terms of tracking position, swing angle suppression as compared to conventional PID and LQR controllers. Although LQR controller takes less time to settle to its final value for swing angle control under all testing conditions.
AB - Crane systems are widely used in logistics due to their efficiency of transportation. The major control problem of gantry crane system is some oscillations while crying load to the desired location. This work developed Radial Basis Function Neural Network (RBFNN) supervised PID controller for position and swing (swing angle suppression) angle of crane system. The supervising RBFNN for position control has two inputs namely instantaneous values of position controller and crane position; while the supervising RBFNN for swing angle control is based on angular acceleration of the swing and anti-sway controller output. The simulation result showed that the proposed control is more robust to the testing conditions in terms of tracking position, swing angle suppression as compared to conventional PID and LQR controllers. Although LQR controller takes less time to settle to its final value for swing angle control under all testing conditions.
KW - Gantry crane
KW - Gantry crane system
KW - PID
KW - Radial basis function
UR - http://www.scopus.com/inward/record.url?scp=85112587797&partnerID=8YFLogxK
U2 - 10.1007/978-981-33-4597-3_4
DO - 10.1007/978-981-33-4597-3_4
M3 - Conference contribution
AN - SCOPUS:85112587797
SN - 9789813345966
T3 - Lecture Notes in Electrical Engineering
SP - 37
EP - 47
BT - Recent Trends in Mechatronics Towards Industry 4.0 - Selected Articles from iM3F 2020
A2 - Ab. Nasir, Ahmad Fakhri
A2 - Ibrahim, Ahmad Najmuddin
A2 - Ishak, Ismayuzri
A2 - Mat Yahya, Nafrizuan
A2 - Zakaria, Muhammad Aizzat
A2 - P. P. Abdul Majeed, Anwar
PB - Springer Science and Business Media Deutschland GmbH
T2 - Innovative Manufacturing, Mechatronics and Materials Forum, iM3F 2020
Y2 - 6 August 2020 through 6 August 2020
ER -