Modelling And Fuzzy Logic Control Of An Underactuated Tower Crane System
Tower crane is one of the flexible maneuvering systems that has been applied pervasively as a powerful big-scale construction machine. The under-actuated tower crane system has nonlinearity behavior with a coupling between translational and slew motions which increases the crane control challenge. I...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | en |
| Published: |
ARQII Publication
2020
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| Online Access: | http://eprints.utem.edu.my/id/eprint/24767/2/MODELLING%20AND%20FUZZY%20LOGIC%20CONTROL%20OF%20AN%20UNDERACTUATED%20TOWER%20CRANE%20SYSTEM.PDF http://eprints.utem.edu.my/id/eprint/24767/ http://arqiipubl.com/ojs/index.php/AMS_Journal/article/view/93/72 |
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| Summary: | Tower crane is one of the flexible maneuvering systems that has been applied pervasively as a powerful big-scale construction machine. The under-actuated tower crane system has nonlinearity behavior with a coupling between translational and slew motions which increases the crane control challenge. In practical applications, most of the tower cranes are operated by a human operator which lead to unsatisfactory control tasks. Motivated to overcome the issues, this paper proposes a fuzzy logic controller based on single input rule modules dynamically connected fuzzy inference system for slew/translational positioning and swing suppressions of a 3 degree-of-freedom tower crane system. The proposed method can reduce the number of rules significantly, resulting in a simpler controller design. The proposed method achieves higher suppressions of at least 56% and 81% in the overall in-plane and out-plane swing responses, respectively as compared to PSO based PID+PD control. |
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