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All Journal International Journal of Robotics and Control Systems
Jaafar, Hazriq Izzuan
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Control & Systems Engineering Electrical & Electronics Engineering

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Control of a Multimode Double-Pendulum Overhead Crane System Using Input Shaping Controllers Hussien, Sharifah Yuslinda Syed; Jaafar, Hazriq Izzuan; Ghazali, Rozaimi; Ramli, Liyana; Johari, Mohd Khairul Azizat
International Journal of Robotics and Control Systems Vol 4, No 3 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i3.1520

Abstract

This paper investigates the impact of higher derivative input shaping for minimizing both oscillations, namely hook and payload of a multimode double-pendulum overhead crane (MDPOC) system. The MDPOC has greater nonlinearities and stronger internal couplings, especially when involving two oscillation frequencies with multimode dynamic effects. With a suitable system’s natural frequency and damping ratio of the hook and payload oscillations, multimode zero-vibration (ZV-ZV), multimode zero-vibration derivative (ZVD-ZVD) and multimode zero-vibration derivative-derivative (ZVDD-ZVDD) shapers are successfully designed. More interestingly, two scenarios under a fixed cable length and a payload hoisting are considered which are closer to the real practical crane.  Thus, an average travel length (ATL)-based shaper method is also considered to further verify the effectiveness and robustness of efficient hook and payload oscillation control under payload hoisting. All the multimode input shaping is simulated using the Matlab software. The simulation results of multimode ZVDD-ZVDD shaper successfully reduced in the overall hook and payload oscillations by 97.9% and 97.2%, respectively, compared to the unshaped system, whereas the multimode ATL-ZVDD shaper reduced hook and payload oscillations by 94.8% and 94.0%, respectively. In fact, the multimode ZVDD-ZVDD and multimode ATL-ZVDD shapers demonstrate the superiority in minimizing the hook and payload oscillations compared to the multimode ZV-ZV, multimode ZVD-ZVD, ATL-ZV and ATL-ZVD shapers. This significant reduction in oscillations enhances the precision and safety of real-world crane operations in industrial settings. It has been proven that considering the additional derivative of input shaping results in a higher level of hook and payload oscillations reduction.
Enhanced Hybrid Robust Fuzzy-PID Controller for Precise Trajectory Tracking Electro-Hydraulic Actuator System Ali, Nur Husnina Mohamad; Ghazali, Rozaimi; Tahir, Abdul Wafi; Jaafar, Hazriq Izzuan; Ghani, Muhammad Fadli; Soon, Chong Chee; Has, Zulfatman
International Journal of Robotics and Control Systems Vol 4, No 2 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i2.1407

Abstract

The Electro-Hydraulic Actuator (EHA) system integrates electrical and hydraulic elements, enabling it to generate a rapid reaction, a high power-to-weight ratio, and significant stiffness. Nevertheless, EHA systems demonstrate non-linear characteristics and modeling uncertainties, such as friction and parametric uncertainty. Designing a controller for accurate trajectory tracking is greatly challenging due to these limitations. This paper introduces a hybrid robust fuzzy proportional-integral-derivative (HFPID) and (HF+PID) controller. The controller is designed to effectively control a third-order model of an EHA system for trajectory tracking. It is a significant contribution to the development of an intelligent robust controller that can perform well in different environments. Initially, a mathematical model for the EHA system was created using a first-principle approach. Subsequently, the Ziegler-Nichols method was employed to fine-tune the PID controller, while a conventional Fuzzy Logic Controller (FLC) was constructed in MATLAB Simulink utilizing linguistic variables and rule-based control. Without further tuning, the FL and PID controller are combined as a hybrid controller with different structures: Hybrid Fuzzy-PID (HFPID) and Hybrid Fuzzy+PID (HF+PID) controller. The Mean Square Error (MSE) and Root Mean Square Error (RMSE) are utilized as indices to assess the tracking accuracy and robustness of the four controllers. A greater value of MSE and RMSE indicates poorer performance of the controller. The results demonstrate that the HF+PID controller surpasses the other controllers by reaching the lowest MSE and RMSE values. It showcases the efficacy and accuracy in monitoring sinusoidal, multi-sinusoidal, and point-to-point trajectory tracking.  Future work should focus on implementing the designed controller on hardware for real-time performance and experimenting with various types of FLC or Hybrid controllers, such as self-tuning fuzzy-PID, to further explore their potential.
Co-Authors Ali, Nur Husnina Mohamad Ghani, Muhammad Fadli Hussien, Sharifah Yuslinda Syed Johari, Mohd Khairul Azizat Ramli, Liyana Rozaimi Ghazali Soon, Chong Chee Tahir, Abdul Wafi Zulfatman Zulfatman