Staff View: Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations

Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations

An underactuated tower crane exhibits a significant payload sway especially under three simultaneous motions involving trolley displacement, jib rotation and payload hoisting. This paper proposes an input shaper with an adaptive scheme for payload swing control of a tower crane under those effects t...

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Main Authors:	Ur Rehman, S. M. Fasih, Mohamed, Zaharuddin, Husain, A. R., Jaafar, Hazriq Izzuan, Shaheed, M. Hasan, Abbasi, Muhammad Abbas
Format:	Article
Published:	Elsevier Ltd 2022
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/103138/ http://dx.doi.org/10.1016/j.ymssp.2022.109106
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id	my.utm.103138
record_format	eprints
spelling	my.utm.1031382023-10-17T01:13:00Z http://eprints.utm.my/103138/ Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations Ur Rehman, S. M. Fasih Mohamed, Zaharuddin Husain, A. R. Jaafar, Hazriq Izzuan Shaheed, M. Hasan Abbasi, Muhammad Abbas TK Electrical engineering. Electronics Nuclear engineering An underactuated tower crane exhibits a significant payload sway especially under three simultaneous motions involving trolley displacement, jib rotation and payload hoisting. This paper proposes an input shaper with an adaptive scheme for payload swing control of a tower crane under those effects together with varying cable lengths for payload hoisting and various payload masses. The control approach has an advantage in its capability to adapt and update the Zero Vibration Derivative shaper parameters in real-time according to the changes in the system parameters. This is achieved by using a non-linear input–output mapping of the parameters developed using the neural network. To test the effectiveness of the proposed controller, experiments are carried out on a laboratory tower crane under several challenging conditions involving payload lowering and lifting operations, variation in speeds of motion, and using different payload masses up to ± 50% variations from an original mass. Experimental results show that the proposed shaper is robust towards the parameter uncertainties with low overall and residual payload sways under all testing conditions. Its superiority is confirmed by improvements of at least 49% and 76% in the payload lifting operation while 38% and 68% in the payload lowering operation for the overall and residual sways respectively over a robust Extra Insensitive shaper designed using an average operating frequency. In addition, the performance of the proposed controller is not affected by the variations in the payload masses and motion speeds. Elsevier Ltd 2022-08-01 Article PeerReviewed Ur Rehman, S. M. Fasih and Mohamed, Zaharuddin and Husain, A. R. and Jaafar, Hazriq Izzuan and Shaheed, M. Hasan and Abbasi, Muhammad Abbas (2022) Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations. Mechanical Systems and Signal Processing, 175 (NA). pp. 1-16. ISSN 0888-3270 http://dx.doi.org/10.1016/j.ymssp.2022.109106 DOI:10.1016/j.ymssp.2022.109106
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Ur Rehman, S. M. Fasih Mohamed, Zaharuddin Husain, A. R. Jaafar, Hazriq Izzuan Shaheed, M. Hasan Abbasi, Muhammad Abbas Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
description	An underactuated tower crane exhibits a significant payload sway especially under three simultaneous motions involving trolley displacement, jib rotation and payload hoisting. This paper proposes an input shaper with an adaptive scheme for payload swing control of a tower crane under those effects together with varying cable lengths for payload hoisting and various payload masses. The control approach has an advantage in its capability to adapt and update the Zero Vibration Derivative shaper parameters in real-time according to the changes in the system parameters. This is achieved by using a non-linear input–output mapping of the parameters developed using the neural network. To test the effectiveness of the proposed controller, experiments are carried out on a laboratory tower crane under several challenging conditions involving payload lowering and lifting operations, variation in speeds of motion, and using different payload masses up to ± 50% variations from an original mass. Experimental results show that the proposed shaper is robust towards the parameter uncertainties with low overall and residual payload sways under all testing conditions. Its superiority is confirmed by improvements of at least 49% and 76% in the payload lifting operation while 38% and 68% in the payload lowering operation for the overall and residual sways respectively over a robust Extra Insensitive shaper designed using an average operating frequency. In addition, the performance of the proposed controller is not affected by the variations in the payload masses and motion speeds.
format	Article
author	Ur Rehman, S. M. Fasih Mohamed, Zaharuddin Husain, A. R. Jaafar, Hazriq Izzuan Shaheed, M. Hasan Abbasi, Muhammad Abbas
author_facet	Ur Rehman, S. M. Fasih Mohamed, Zaharuddin Husain, A. R. Jaafar, Hazriq Izzuan Shaheed, M. Hasan Abbasi, Muhammad Abbas
author_sort	Ur Rehman, S. M. Fasih
title	Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
title_short	Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
title_full	Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
title_fullStr	Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
title_full_unstemmed	Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
title_sort	input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations
publisher	Elsevier Ltd
publishDate	2022
url	http://eprints.utm.my/103138/ http://dx.doi.org/10.1016/j.ymssp.2022.109106
_version_	1781777651478822912
score	13.211869

Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations

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