Controlling the position of the final load and the anti-swing control of the loads during the operation of the tower crane are challenging tasks. These are the most important control issues for safe operation, which are difficult to achieve easily with conventional control systems. Hence, the need to integrate the concepts of soft-computing into the tower crane control system. The aim of this research work is to design an adaptive-network-based fuzzy inference system (ANFIS) controller to move the payload to the final position with the lowest possible swing angle. To evaluate the ability of the proposed controller to meet the control requirements, its performance was compared to three other controllers: a conventional proportional derivative (PD) controller, a fuzzy-tuned PD controller and a fuzzy controller. MATLAB-based computer simulations of the crane and controllers were carried out to verify and compare the performance of the proposed controllers. The obtained results show the effectiveness of the ANFIS-based controller in adjusting the load position while keeping the load fluctuations small at the final position. The load oscillation angle is about ±2.28° with the ANFIS controller while it is about ±10° when using the PD controller. In addition, only one ANFIS controller is used for both load position and swing angle control.
Controller design for gantry crane system using modified sine cosine optimiza...TELKOMNIKA JOURNAL
The objective of this research paper is to design a control system to optimize the operating works of the gantry crane system. The dynamic model of the gantry crane system is derived in terms of trolley position and payload oscillation, which is highly nonlinear. The crane system should have the capability to transfer the material to destination end with desired speed along with reducing the load oscillation, obtain expected trolley position and preserving the safety. Proposed controlling method is based on the proportional-integral-derivative (PID) controller with a series differential compensator to control the swinging of the payload and the system trolley movement in order to perform the optimum utilization of the gantry crane. Standard sine cosine optimization algorithm is one of the most-recent optimization techniques based on a stochastic algorithm was presented to tune the PID controller with a series differential compensator. Furthermore, the considered optimization algorithm is modified in order to overcome the inherent drawbacks and solve complex benchmark test functions and to find the optimal design's parameters of the proposed controller. The simulation results show that the modified sine cosine optimization algorithm has better global search performance and exhibits good computational robustness based on test functions. Moreover, the results of testing the gantry crane model reveal that the proposed controller with standard and modified algorithms is effective, feasible and robust in achieving the desired requirements.
Fuzzy Control of a Large Crane Structureijeei-iaes
The usage of tower cranes, one type of rotary cranes, is common in many industrial structures, e.g., shipyards, factories, etc. With the size of these cranes becoming larger and the motion expected to be faster and has no prescribed path, their manual operation becomes difficult and hence, automatic closed-loop control schemes are very important in the operation of rotary crane. In this paper, the plant of concern is a tower crane consists of a rotatable jib that carries a trolley which is capable of traveling over the length of the jib. There is a pendulum-like end line attached to the trolley through a cable of variable length. A fuzzy logic controller with various types of membership functions is implemented for controlling the position of the trolley and damping the load oscillations. It consists of two main types of controllers radial and rotational each of two fuzzy inference engines (FIEs). The radial controller is used to control the trolley position and the rotational is used for damping the load oscillations. Computer simulations are used to verify the performance of the controller. The results from the simulations show the effectiveness of the method in the control of tower crane keeping load swings small at the end of motion.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway
LQR control. First, 1D translational motion of overhead crane is designed with exact lab model
measurements and features. Second, linear least square system identification with 7 past inputs/outputs is
applied on collected simulation data to produce more predicted models. Third, minimize root mean square
error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and
Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast
track on trolley positioning.
Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway
LQR control. First, 1D translational motion of overhead crane is designed with exact lab model
measurements and features. Second, linear least square system identification with 7 past inputs/outputs is
applied on collected simulation data to produce more predicted models. Third, minimize root mean square
error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and
Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast
track on trolley positioning.
SIMMECHANICS VISUALIZATION OF EXPERIMENTAL MODEL OVERHEAD CRANE, ITS LINEARIZ...ijccmsjournal
Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway LQR control. First, 1D translational motion of overhead crane is designed with exact lab model measurements and features. Second, linear least square system identification with 7 past inputs/outputs is applied on collected simulation data to produce more predicted models. Third, minimize root mean square error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast track on trolley positioning.
Aircraft pitch control design using LQG controller based on genetic algorithmTELKOMNIKA JOURNAL
Designing a robust aircraft control system used to achieve a good tracking performance and stable dynamic behavior against working disturbances problem has attracted attention of control engineers. In this paper, a pitch angle control system for aircraft is designed utilizing liner quadratic Gaussian (LQG) optimal controller technique with a numerical tuning algorithm method in the longitudinal plane through cruising stage. Main design approach of LQG controller includes obtaining best weighting matrices values using trial and error method that consumes effort and takes more time, in addition, there is no guarantees to obtain optimum values for weighting matrices elements. In this research, genetic algorithm (GA) is used to optimize the state and control weighting matrices and determine best values for their elements. The proposed traditional and optimized LQG pitch controller schemes are implemented utilizing Matlab simulation tool and their performance are presented and compared based on transient and steady state performance parameters. The simulation results reveal the ability of the optimized GA_LQG controller to reject the effect of the noises in the aircraft system dynamic and achieve a good and stable tracking performance compared with that of the conventional LQG pitch control system.
In this paper, a novel adaptive control approach for Unmanned Aerial Manipulators (UAMs) is proposed. The UAMs are a new configuration of the Unmanned Arial Vehicles (UAVs) which are characterized by several inhered nonlinearities, uncertainties and coupling. The studied UAM is a Quadrotor endowed with two degrees of freedom robotic arm. The main objectives of our contribution are to achieve both a tracking error convergence by avoiding any singularity problem and also the chattering amplitude attenuation in the presence of perturbations. Therefore, the proposed Adaptive Nonsingular Terminal Super-Twisting controller (ANTSTW) consists of the hybridization of a Nonsingular Terminal Sliding Mode Control and an Adaptive Super Twisting. The adaptive law, which adjust the Super-Twisting’s parameters, is obtained by using stability Lyapunov theorem. Simulation experiments in trajectory tracking mode were realized and compared with Nonsingular Terminal Super-twisting control to prove the superiority and the effectiveness of the proposed approach.
Controller design for gantry crane system using modified sine cosine optimiza...TELKOMNIKA JOURNAL
The objective of this research paper is to design a control system to optimize the operating works of the gantry crane system. The dynamic model of the gantry crane system is derived in terms of trolley position and payload oscillation, which is highly nonlinear. The crane system should have the capability to transfer the material to destination end with desired speed along with reducing the load oscillation, obtain expected trolley position and preserving the safety. Proposed controlling method is based on the proportional-integral-derivative (PID) controller with a series differential compensator to control the swinging of the payload and the system trolley movement in order to perform the optimum utilization of the gantry crane. Standard sine cosine optimization algorithm is one of the most-recent optimization techniques based on a stochastic algorithm was presented to tune the PID controller with a series differential compensator. Furthermore, the considered optimization algorithm is modified in order to overcome the inherent drawbacks and solve complex benchmark test functions and to find the optimal design's parameters of the proposed controller. The simulation results show that the modified sine cosine optimization algorithm has better global search performance and exhibits good computational robustness based on test functions. Moreover, the results of testing the gantry crane model reveal that the proposed controller with standard and modified algorithms is effective, feasible and robust in achieving the desired requirements.
Fuzzy Control of a Large Crane Structureijeei-iaes
The usage of tower cranes, one type of rotary cranes, is common in many industrial structures, e.g., shipyards, factories, etc. With the size of these cranes becoming larger and the motion expected to be faster and has no prescribed path, their manual operation becomes difficult and hence, automatic closed-loop control schemes are very important in the operation of rotary crane. In this paper, the plant of concern is a tower crane consists of a rotatable jib that carries a trolley which is capable of traveling over the length of the jib. There is a pendulum-like end line attached to the trolley through a cable of variable length. A fuzzy logic controller with various types of membership functions is implemented for controlling the position of the trolley and damping the load oscillations. It consists of two main types of controllers radial and rotational each of two fuzzy inference engines (FIEs). The radial controller is used to control the trolley position and the rotational is used for damping the load oscillations. Computer simulations are used to verify the performance of the controller. The results from the simulations show the effectiveness of the method in the control of tower crane keeping load swings small at the end of motion.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway
LQR control. First, 1D translational motion of overhead crane is designed with exact lab model
measurements and features. Second, linear least square system identification with 7 past inputs/outputs is
applied on collected simulation data to produce more predicted models. Third, minimize root mean square
error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and
Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast
track on trolley positioning.
Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway
LQR control. First, 1D translational motion of overhead crane is designed with exact lab model
measurements and features. Second, linear least square system identification with 7 past inputs/outputs is
applied on collected simulation data to produce more predicted models. Third, minimize root mean square
error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and
Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast
track on trolley positioning.
SIMMECHANICS VISUALIZATION OF EXPERIMENTAL MODEL OVERHEAD CRANE, ITS LINEARIZ...ijccmsjournal
Overhead Crane experimental model using Simmechanic Visualization is presented for the robust antisway LQR control. First, 1D translational motion of overhead crane is designed with exact lab model measurements and features. Second, linear least square system identification with 7 past inputs/outputs is applied on collected simulation data to produce more predicted models. Third, minimize root mean square error and identified the best fit model with lowest RMSE. Finally, Linear Quadratic Regulator (LQR) and Reference tracking with pre-compensator have been implemented to minimize load swing and perform fast track on trolley positioning.
Aircraft pitch control design using LQG controller based on genetic algorithmTELKOMNIKA JOURNAL
Designing a robust aircraft control system used to achieve a good tracking performance and stable dynamic behavior against working disturbances problem has attracted attention of control engineers. In this paper, a pitch angle control system for aircraft is designed utilizing liner quadratic Gaussian (LQG) optimal controller technique with a numerical tuning algorithm method in the longitudinal plane through cruising stage. Main design approach of LQG controller includes obtaining best weighting matrices values using trial and error method that consumes effort and takes more time, in addition, there is no guarantees to obtain optimum values for weighting matrices elements. In this research, genetic algorithm (GA) is used to optimize the state and control weighting matrices and determine best values for their elements. The proposed traditional and optimized LQG pitch controller schemes are implemented utilizing Matlab simulation tool and their performance are presented and compared based on transient and steady state performance parameters. The simulation results reveal the ability of the optimized GA_LQG controller to reject the effect of the noises in the aircraft system dynamic and achieve a good and stable tracking performance compared with that of the conventional LQG pitch control system.
In this paper, a novel adaptive control approach for Unmanned Aerial Manipulators (UAMs) is proposed. The UAMs are a new configuration of the Unmanned Arial Vehicles (UAVs) which are characterized by several inhered nonlinearities, uncertainties and coupling. The studied UAM is a Quadrotor endowed with two degrees of freedom robotic arm. The main objectives of our contribution are to achieve both a tracking error convergence by avoiding any singularity problem and also the chattering amplitude attenuation in the presence of perturbations. Therefore, the proposed Adaptive Nonsingular Terminal Super-Twisting controller (ANTSTW) consists of the hybridization of a Nonsingular Terminal Sliding Mode Control and an Adaptive Super Twisting. The adaptive law, which adjust the Super-Twisting’s parameters, is obtained by using stability Lyapunov theorem. Simulation experiments in trajectory tracking mode were realized and compared with Nonsingular Terminal Super-twisting control to prove the superiority and the effectiveness of the proposed approach.
This document proposes a fuzzy sliding mode controller for speed control of induction motors. It begins with an abstract that summarizes the proposed control scheme using fuzzy logic techniques to dynamically control the sliding mode control equivalent action. It then provides background on induction motor modeling, field oriented control, and sliding mode control. The document describes developing a fuzzy sliding mode controller where fuzzy logic controllers replace the inequalities that determine the sliding mode control parameters. Simulation results show the proposed fuzzy sliding mode controller provides good performance, disturbance rejection, and robustness to parameter variations compared to classical sliding mode control.
Adaptive control of nonlinear system based on QFT application to 3-DOF flight...TELKOMNIKA JOURNAL
Research on unmanned aerial vehicle (UAV) became popular because of remote flight access and
cost-effective solution. 3-degree of freedom (3-DOF) unmanned helicopters is one of the popular research
UAV, because of its high load carrying capacity with a smaller number of motor and requirement of
forethought motor control dynamics. Various control algorithms are investigated and designed for the motion
control of the 3DOF helicopter. Three-degree-of-freedom helicopter model configuration presents the same
advantages of 3-DOF helicopters along with increased payload capacity, increase stability in hover,
manoeuvrability and reduced mechanical complexity. Numerous research institutes have chosen
the three-degree-of-freedom as an ideal platform to develop intelligent controllers. In this research paper,
we discussed about a hybrid controller that combined with Adaptive and Quantitative Feedback theory (QFT)
controller for the 3-DOF helicopter model. Though research on Adaptive and QFT controller are not a new
subject, the first successful single Adaptive aircraft flight control systems have been designed for the U.S.
Air Force in Wright Laboratories unmanned research vehicle, Lambda [1]. Previously researcher focused on
structured uncertainties associated with controller for the flight conditions theoretically. The development of
simulationbased design on flight control system response, opened a new dimension for researcher to design
physical flight controller for plant parameter uncertainties. At the beginning, our research was to investigates
the possibility of developing the QFT combined with Adaptive controller to control a single pitch angle that
meets flying quality conditions of automatic flight control. Finally, we successfully designed the hybrid
controller that is QFT based adaptive controller for all the three angles.
This document discusses different control methods for vehicle lateral control, including classical control theory, modern control theory, fuzzy logic, sliding mode control, and neural networks. It develops a 2DOF bicycle model of a vehicle and uses pole placement control to design a lateral controller. Simulation results show the vehicle can track a reference input but with large overshoots in yaw rate and velocity. An improved controller is designed with slower response but smaller state variable fluctuations. Future work involves implementing the controller with an observer and designing longitudinal control.
Application of fuzzy controllers in automatic ship motion control systemsIJECEIAES
Automatic ship heading control is a part of the automatic navigation system. It is charged with the task of maintaining the actual ship’s course angle or actual ship’s course without human intervention in accordance with the set course or setting parameter and maintaining this condition under the effect of disturbing influences. Thus, the corrective influence on deviations from a course can be rendered by the position of a rudder or controlling influence that leads to the rotary movement of a vessel around a vertical axis that represents a problem, which can be solved with the use of fuzzy logic. In this paper, we propose to consider the estimation of the efficiency of fuzzy controllers in systems of automatic control of ship movement, obtained by analysis of a method of the formalized record of a logic conclusion and structure of the fuzzy controller. The realization of this allows to carry out effective stabilization of a course angle of a vessel taking into account existing restrictions.
A predictive sliding mode control for quadrotor’s tracking trajectory subject...IJECEIAES
In this paper, a predictive sliding mode control (PSMC) strategy for the quadrotors tracking trajectory problem is proposed. This strategy aims to combine the advantages of sliding mode control (SMC) and non-linear model predictive control (NMPC) to improve the tracking control performance for quadrotors in terms of optimality, inputs/states constraints satisfaction, and strong robustness against disturbances. A comparative study of three popular controllers: the SMC, NMPC, and the integral backstepping control (IBC) is performed with different criteria. Accordingly, IBC and SMC show less computational time and strong robustness, while NMPC has minimum control effort. The discrete Dryden turbulence model is used as a benchmark model to represent the wind effect on the trajectory tracking accuracy. The effectiveness of the proposed method PSMC has been proven and compared with discrete-time sliding mode control (DSMC) and NMPC in several scenarios. Simulation results show that under both wind turbulence and time-variant uncertainties, the PSMC outperforms the other controllers by providing simultaneously disturbance rejection and guarantee that the control inputs are within bounded constraints.
Experimental verification of SMC with moving switching lines applied to hoisti...ISA Interchange
In this paper we propose sliding mode control strategies for the point-to-point motion control of a hoisting crane. The strategies employ time-varying switching lines (characterized by a constant angle of inclination) which move either with a constant deceleration or a constant velocity to the origin of the error state space. An appropriate design of these switching lines results in non-oscillatory convergence of the regulation error in the closed-loop system. Parameters of the lines are selected optimally in the sense of two criteria, i.e. integral absolute error (IAE) and integral of the time multiplied by the absolute error (ITAE). Furthermore, the velocity and acceleration constraints are explicitly taken into account in the optimization process. Theoretical considerations are verified by experimental tests conducted on a laboratory scale hoisting crane.
Navigation of Mobile Inverted Pendulum via Wireless control using LQR TechniqueIJMTST Journal
Mobile Inverted Pendulum (MIP) is a non-linear robotic system. Basically it is a Self-balancing robot
working on the principle of Inverted pendulum, which is a two wheel vehicle, balances itself up in the vertical
position with reference to the ground. It has four configuration variables (Cart position, Cart Velocity,
Pendulum angle, Pendulum angular velocity) to be controlled using only two control inputs. Hence it is an
Under-actuated system. This paper focuses on control of translational acceleration and deceleration of the
MIP in a dynamically reasonable manner using LQR technique. The body angle and MIP displacement are
controlled to maintain reference states where the MIP is statically unstable but dynamically stable which
leads to a constant translational acceleration due to instability of the vehicle. In this proposal, the
implementation of self balancing robot with LQR control strategy and the implementation of navigation
control of the bot using a wireless module is done. The simulation results were compared between PID control
and LQR control strategies.
We focus a modern methodology in this paper for adding the fuzzy logic control as well as sliding model control. This combination can enhance the MLS position control robustness and enhanced performance of it.In the start, for an application in an area to control the loops placement and position for the synchronous motor what has permanent magnetic linearity we tend to control the fuzzy sliding mode control. To resolve the chattering issues a designed controller is investigated and, in this way, steady state motion in sliding with higher accuracy is obtained. In this case, method of online tuning with the help of fuzzy logic is used in order to adjust the thickness of boundary layer and switching gains.For the suggested scheme technique, the outcomes of simulation suggest that with the classical SMC the accurate state and good dynamic performance is compared due to force chattering resistance, response by quick dynamic force and external disturbance elements and robustness against them.
A two-wheeled self-balancing robot (TWSBR) is an underactuated system that
is inherently nonlinear and unstable. While many control methods have been
introduced to enhance the performance, there is no unique solution when it comes to hardware implementation as the robot’s stability is highly dependent on accuracy of sensors and robustness of the electronic control systems. In
this study, a TWSBR that is controlled by an embedded NI myRIO-1900 board with LabVIEW-based control scheme is developed. We compare the performance between proportional-integral-derivative (PID) and linear quadratic regulator (LQR) schemes which are designed based on the TWSBR’s model that
is constructed from Newtonian principles. A hybrid PID-LQR scheme is then proposed to compensate for the individual components’ limitations. Experimental results demonstrate the PID is more effective at regulating the tilt angle of the robot in the presence of external disturbances, but it necessitates a higher velocity to sustain its equilibrium. The LQR on the other hand outperforms PID
in terms of maximum initial tilt angle. By combining both schemes, significant
improvements can be observed, such as an increase in maximum initial tilt angle
and a reduction in settling time.
This document describes a finite element model developed to simulate the dynamics of an aircraft arresting gear system. The arresting gear is used on aircraft carriers to stop landing aircraft and consists of cables, blocks, dampers, and a hydraulic braking mechanism. The developed model includes all major components of the real system as finite elements. Validation tests showed the model accurately predicts pressures in the hydraulic cylinder and the overall behavior matches experimental data. The validated model is then used to simulate aircraft landings with different masses and velocities to analyze how the arresting gear performs under varying conditions.
Improvement of Pitch Motion Control of an Aircraft SystemsTELKOMNIKA JOURNAL
The movement of the aircraft pitch is very important to ensure the passengers and crews are in
intrinsically safe and the aircraft achieves its maximum stability.The objective of this study is to provide a
solution to the control system that features particularly on the pitch angle motion of aircraft systemin order
to have a comfort boarding. Three controllers were developed in these projects which wereproportional
integral derivative (PID), fuzzy logic controller (FLC), and linear quadratic regulator (LQR) controllers.
These controllers will help improving the pitch angle and achievingthe target reference. By improving the
pitch motion angle, the flight will be stabilized and in steady cruise (no jerking effect), hence provides all
the passengers withthe comfort zone. Simulation results have been done and analyzed using Matlab
software. The simulation results demonstrated LQR and FLC were better than PID in the pitch motion
system due to the small error performance. In addition, withstrong external disturbances, a single controller
is unable to control the system, thus, the combination of PID and LQR managed to stabilize the aircraft.
This document presents a study that designs and implements a sliding mode control scheme for speed control of an induction motor. The study first derives an indirect field oriented control for the induction motor. It then investigates a sliding mode control design to achieve speed tracking under different load disturbances. Finally, the proposed control scheme is implemented using a dSPACE DS1104 hardware board. Experimental results on a 0.25 kW induction motor show the controller provides high dynamic performance, fast transients, good disturbance rejection, and no overshoot.
Tracking and control problem of an aircraftANSUMAN MISHRA
Here our main focus is to monitor and maneuver the flight for a particular distance in a time-scale with absolute control. For this a rigorous formulation of flight mechanics and theories associated with advanced control systems are simplified and analyzed to obtain a feasible & optimized solution.
It is also important to remember that this idea basically involves handling problems of maneuvering control and other pilot-issues of an inner-loop flight-control system and does not dwell on outer loop control systems .
The operational significance of this maneuver is that it allows the pilot to slew quickly without increasing the normal acceleration and turning.
An Unmanned Rotorcraft System with Embedded DesignIOSR Journals
This document describes the design and implementation of an embedded control system for an unmanned rotorcraft. It uses a backstepping control law with state estimation provided by an extended Kalman filter using data from a marker-based vision system and inertial measurement unit. A self-organizing map is used to select local operating regimes for modeling the nonlinear dynamics. The control algorithm was tested in a hardware-in-the-loop simulation and able to track spiral paths in 3D space with the embedded controller implemented on a Freescale MPC555 processor.
IRJET- Design and Fabrication of PLC and SCADA based Robotic Arm for Material...IRJET Journal
This document describes the design and fabrication of a PLC and SCADA-controlled robotic arm for material handling. The robotic arm uses pneumatic cylinders connected by joints to move along three axes (X, Y, and Z). A mechanical gripper is attached to the end of the arm to grip objects on a conveyor belt. The movements of the pneumatic cylinders and gripper are controlled by a PLC based on sensor inputs from the conveyor belt. The PLC and robotic arm are integrated with a SCADA system for centralized control and monitoring. The robotic arm is intended to automate repetitive picking and placing tasks to reduce labor costs compared to manual operations.
PID vs LQR controller for tilt rotor airplane IJECEIAES
This document summarizes and compares PID and LQR control strategies for controlling the maneuvers of a tilt rotor airplane. Multiple attitude and altitude PID controllers were used to control a simplified linear model, but this did not account for all coupling between degrees of freedom. An LQR controller was also adopted to provide a more feasible solution for complex maneuvering, though both controllers require linearization of the model. The mathematical modeling section describes the rigid body equations of motion for the tri-tilt rotor configuration in body and earth frames using Newton-Euler formalism. Control of attitudes, positions and transitions between helicopter and airplane modes are discussed.
Comparative analysis of observer-based LQR and LMI controllers of an inverted...journalBEEI
An inverted pendulum is a multivariable, unstable, nonlinear system that is used as a yardstick in control engineering laboratories to study, verify and confirm innovative control techniques. To implement a simple control algorithm, achieve upright stabilization and precise tracking control under external disturbances constitutes a serious challenge. Observer-based linear quadratic regulator (LQR) controller and linear matrix inequality (LMI) are proposed for the upright stabilization of the system. Simulation studies are performed using step input magnitude, and the results are analyzed. Time response specifications, integral square error (ISE), integral absolute error (IAE) and mean absolute error (MAE) were employed to investigate the performances of the proposed controllers. Based on the comparative analysis, the upright stabilization of the pendulum was achieved within the shortest possible time with both controllers however, the LMI controller exhibits better performances in both stabilization and robustness. Moreover, the LMI control scheme is effective and simple.
This document presents an output-based input shaping and proportional integral derivative (PID) control for load hoisting control of a 3D crane system. Unlike conventional input shaping that uses model parameters, output-based filtering is designed using the target system's output signal to avoid issues from model uncertainties. Simulation results show precise payload positioning with negligible sway is achieved. The proposed hybrid control is robust and can be easily implemented on higher order systems. Logarithmic decrement techniques are used to determine the crane system's damping ratio and natural frequency, simplifying the design. An output-based filter is designed by minimizing the difference between the target system and reference system outputs. Filter gains are then calculated to shape the input and reduce residual vibrations
Robust second order sliding mode control for a quadrotor considering motor dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain
parameters presented based on high order sliding mode control (HOSMC). A controller based on the
HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor
dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method.
The performance and effectiveness of the proposed controller are tested in a simulation study taking into
account external disturbances with consider to motor dynamics. Simulation results show that the proposed
controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be
used in real time applications.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
This document presents a robust second order sliding mode control approach for controlling the position and attitude of a quadrotor helicopter that considers motor dynamics. A nonlinear dynamic model of the quadrotor is developed that includes motor dynamics. Based on this model, a controller is designed using higher order sliding mode control techniques to independently control the altitude, longitudinal, latitudinal, and heading motions of the quadrotor. Simulation results show that the proposed controller is effective at eliminating disturbances and can be used for real-time applications.
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
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This document proposes a fuzzy sliding mode controller for speed control of induction motors. It begins with an abstract that summarizes the proposed control scheme using fuzzy logic techniques to dynamically control the sliding mode control equivalent action. It then provides background on induction motor modeling, field oriented control, and sliding mode control. The document describes developing a fuzzy sliding mode controller where fuzzy logic controllers replace the inequalities that determine the sliding mode control parameters. Simulation results show the proposed fuzzy sliding mode controller provides good performance, disturbance rejection, and robustness to parameter variations compared to classical sliding mode control.
Adaptive control of nonlinear system based on QFT application to 3-DOF flight...TELKOMNIKA JOURNAL
Research on unmanned aerial vehicle (UAV) became popular because of remote flight access and
cost-effective solution. 3-degree of freedom (3-DOF) unmanned helicopters is one of the popular research
UAV, because of its high load carrying capacity with a smaller number of motor and requirement of
forethought motor control dynamics. Various control algorithms are investigated and designed for the motion
control of the 3DOF helicopter. Three-degree-of-freedom helicopter model configuration presents the same
advantages of 3-DOF helicopters along with increased payload capacity, increase stability in hover,
manoeuvrability and reduced mechanical complexity. Numerous research institutes have chosen
the three-degree-of-freedom as an ideal platform to develop intelligent controllers. In this research paper,
we discussed about a hybrid controller that combined with Adaptive and Quantitative Feedback theory (QFT)
controller for the 3-DOF helicopter model. Though research on Adaptive and QFT controller are not a new
subject, the first successful single Adaptive aircraft flight control systems have been designed for the U.S.
Air Force in Wright Laboratories unmanned research vehicle, Lambda [1]. Previously researcher focused on
structured uncertainties associated with controller for the flight conditions theoretically. The development of
simulationbased design on flight control system response, opened a new dimension for researcher to design
physical flight controller for plant parameter uncertainties. At the beginning, our research was to investigates
the possibility of developing the QFT combined with Adaptive controller to control a single pitch angle that
meets flying quality conditions of automatic flight control. Finally, we successfully designed the hybrid
controller that is QFT based adaptive controller for all the three angles.
This document discusses different control methods for vehicle lateral control, including classical control theory, modern control theory, fuzzy logic, sliding mode control, and neural networks. It develops a 2DOF bicycle model of a vehicle and uses pole placement control to design a lateral controller. Simulation results show the vehicle can track a reference input but with large overshoots in yaw rate and velocity. An improved controller is designed with slower response but smaller state variable fluctuations. Future work involves implementing the controller with an observer and designing longitudinal control.
Application of fuzzy controllers in automatic ship motion control systemsIJECEIAES
Automatic ship heading control is a part of the automatic navigation system. It is charged with the task of maintaining the actual ship’s course angle or actual ship’s course without human intervention in accordance with the set course or setting parameter and maintaining this condition under the effect of disturbing influences. Thus, the corrective influence on deviations from a course can be rendered by the position of a rudder or controlling influence that leads to the rotary movement of a vessel around a vertical axis that represents a problem, which can be solved with the use of fuzzy logic. In this paper, we propose to consider the estimation of the efficiency of fuzzy controllers in systems of automatic control of ship movement, obtained by analysis of a method of the formalized record of a logic conclusion and structure of the fuzzy controller. The realization of this allows to carry out effective stabilization of a course angle of a vessel taking into account existing restrictions.
A predictive sliding mode control for quadrotor’s tracking trajectory subject...IJECEIAES
In this paper, a predictive sliding mode control (PSMC) strategy for the quadrotors tracking trajectory problem is proposed. This strategy aims to combine the advantages of sliding mode control (SMC) and non-linear model predictive control (NMPC) to improve the tracking control performance for quadrotors in terms of optimality, inputs/states constraints satisfaction, and strong robustness against disturbances. A comparative study of three popular controllers: the SMC, NMPC, and the integral backstepping control (IBC) is performed with different criteria. Accordingly, IBC and SMC show less computational time and strong robustness, while NMPC has minimum control effort. The discrete Dryden turbulence model is used as a benchmark model to represent the wind effect on the trajectory tracking accuracy. The effectiveness of the proposed method PSMC has been proven and compared with discrete-time sliding mode control (DSMC) and NMPC in several scenarios. Simulation results show that under both wind turbulence and time-variant uncertainties, the PSMC outperforms the other controllers by providing simultaneously disturbance rejection and guarantee that the control inputs are within bounded constraints.
Experimental verification of SMC with moving switching lines applied to hoisti...ISA Interchange
In this paper we propose sliding mode control strategies for the point-to-point motion control of a hoisting crane. The strategies employ time-varying switching lines (characterized by a constant angle of inclination) which move either with a constant deceleration or a constant velocity to the origin of the error state space. An appropriate design of these switching lines results in non-oscillatory convergence of the regulation error in the closed-loop system. Parameters of the lines are selected optimally in the sense of two criteria, i.e. integral absolute error (IAE) and integral of the time multiplied by the absolute error (ITAE). Furthermore, the velocity and acceleration constraints are explicitly taken into account in the optimization process. Theoretical considerations are verified by experimental tests conducted on a laboratory scale hoisting crane.
Navigation of Mobile Inverted Pendulum via Wireless control using LQR TechniqueIJMTST Journal
Mobile Inverted Pendulum (MIP) is a non-linear robotic system. Basically it is a Self-balancing robot
working on the principle of Inverted pendulum, which is a two wheel vehicle, balances itself up in the vertical
position with reference to the ground. It has four configuration variables (Cart position, Cart Velocity,
Pendulum angle, Pendulum angular velocity) to be controlled using only two control inputs. Hence it is an
Under-actuated system. This paper focuses on control of translational acceleration and deceleration of the
MIP in a dynamically reasonable manner using LQR technique. The body angle and MIP displacement are
controlled to maintain reference states where the MIP is statically unstable but dynamically stable which
leads to a constant translational acceleration due to instability of the vehicle. In this proposal, the
implementation of self balancing robot with LQR control strategy and the implementation of navigation
control of the bot using a wireless module is done. The simulation results were compared between PID control
and LQR control strategies.
We focus a modern methodology in this paper for adding the fuzzy logic control as well as sliding model control. This combination can enhance the MLS position control robustness and enhanced performance of it.In the start, for an application in an area to control the loops placement and position for the synchronous motor what has permanent magnetic linearity we tend to control the fuzzy sliding mode control. To resolve the chattering issues a designed controller is investigated and, in this way, steady state motion in sliding with higher accuracy is obtained. In this case, method of online tuning with the help of fuzzy logic is used in order to adjust the thickness of boundary layer and switching gains.For the suggested scheme technique, the outcomes of simulation suggest that with the classical SMC the accurate state and good dynamic performance is compared due to force chattering resistance, response by quick dynamic force and external disturbance elements and robustness against them.
A two-wheeled self-balancing robot (TWSBR) is an underactuated system that
is inherently nonlinear and unstable. While many control methods have been
introduced to enhance the performance, there is no unique solution when it comes to hardware implementation as the robot’s stability is highly dependent on accuracy of sensors and robustness of the electronic control systems. In
this study, a TWSBR that is controlled by an embedded NI myRIO-1900 board with LabVIEW-based control scheme is developed. We compare the performance between proportional-integral-derivative (PID) and linear quadratic regulator (LQR) schemes which are designed based on the TWSBR’s model that
is constructed from Newtonian principles. A hybrid PID-LQR scheme is then proposed to compensate for the individual components’ limitations. Experimental results demonstrate the PID is more effective at regulating the tilt angle of the robot in the presence of external disturbances, but it necessitates a higher velocity to sustain its equilibrium. The LQR on the other hand outperforms PID
in terms of maximum initial tilt angle. By combining both schemes, significant
improvements can be observed, such as an increase in maximum initial tilt angle
and a reduction in settling time.
This document describes a finite element model developed to simulate the dynamics of an aircraft arresting gear system. The arresting gear is used on aircraft carriers to stop landing aircraft and consists of cables, blocks, dampers, and a hydraulic braking mechanism. The developed model includes all major components of the real system as finite elements. Validation tests showed the model accurately predicts pressures in the hydraulic cylinder and the overall behavior matches experimental data. The validated model is then used to simulate aircraft landings with different masses and velocities to analyze how the arresting gear performs under varying conditions.
Improvement of Pitch Motion Control of an Aircraft SystemsTELKOMNIKA JOURNAL
The movement of the aircraft pitch is very important to ensure the passengers and crews are in
intrinsically safe and the aircraft achieves its maximum stability.The objective of this study is to provide a
solution to the control system that features particularly on the pitch angle motion of aircraft systemin order
to have a comfort boarding. Three controllers were developed in these projects which wereproportional
integral derivative (PID), fuzzy logic controller (FLC), and linear quadratic regulator (LQR) controllers.
These controllers will help improving the pitch angle and achievingthe target reference. By improving the
pitch motion angle, the flight will be stabilized and in steady cruise (no jerking effect), hence provides all
the passengers withthe comfort zone. Simulation results have been done and analyzed using Matlab
software. The simulation results demonstrated LQR and FLC were better than PID in the pitch motion
system due to the small error performance. In addition, withstrong external disturbances, a single controller
is unable to control the system, thus, the combination of PID and LQR managed to stabilize the aircraft.
This document presents a study that designs and implements a sliding mode control scheme for speed control of an induction motor. The study first derives an indirect field oriented control for the induction motor. It then investigates a sliding mode control design to achieve speed tracking under different load disturbances. Finally, the proposed control scheme is implemented using a dSPACE DS1104 hardware board. Experimental results on a 0.25 kW induction motor show the controller provides high dynamic performance, fast transients, good disturbance rejection, and no overshoot.
Tracking and control problem of an aircraftANSUMAN MISHRA
Here our main focus is to monitor and maneuver the flight for a particular distance in a time-scale with absolute control. For this a rigorous formulation of flight mechanics and theories associated with advanced control systems are simplified and analyzed to obtain a feasible & optimized solution.
It is also important to remember that this idea basically involves handling problems of maneuvering control and other pilot-issues of an inner-loop flight-control system and does not dwell on outer loop control systems .
The operational significance of this maneuver is that it allows the pilot to slew quickly without increasing the normal acceleration and turning.
An Unmanned Rotorcraft System with Embedded DesignIOSR Journals
This document describes the design and implementation of an embedded control system for an unmanned rotorcraft. It uses a backstepping control law with state estimation provided by an extended Kalman filter using data from a marker-based vision system and inertial measurement unit. A self-organizing map is used to select local operating regimes for modeling the nonlinear dynamics. The control algorithm was tested in a hardware-in-the-loop simulation and able to track spiral paths in 3D space with the embedded controller implemented on a Freescale MPC555 processor.
IRJET- Design and Fabrication of PLC and SCADA based Robotic Arm for Material...IRJET Journal
This document describes the design and fabrication of a PLC and SCADA-controlled robotic arm for material handling. The robotic arm uses pneumatic cylinders connected by joints to move along three axes (X, Y, and Z). A mechanical gripper is attached to the end of the arm to grip objects on a conveyor belt. The movements of the pneumatic cylinders and gripper are controlled by a PLC based on sensor inputs from the conveyor belt. The PLC and robotic arm are integrated with a SCADA system for centralized control and monitoring. The robotic arm is intended to automate repetitive picking and placing tasks to reduce labor costs compared to manual operations.
PID vs LQR controller for tilt rotor airplane IJECEIAES
This document summarizes and compares PID and LQR control strategies for controlling the maneuvers of a tilt rotor airplane. Multiple attitude and altitude PID controllers were used to control a simplified linear model, but this did not account for all coupling between degrees of freedom. An LQR controller was also adopted to provide a more feasible solution for complex maneuvering, though both controllers require linearization of the model. The mathematical modeling section describes the rigid body equations of motion for the tri-tilt rotor configuration in body and earth frames using Newton-Euler formalism. Control of attitudes, positions and transitions between helicopter and airplane modes are discussed.
Comparative analysis of observer-based LQR and LMI controllers of an inverted...journalBEEI
An inverted pendulum is a multivariable, unstable, nonlinear system that is used as a yardstick in control engineering laboratories to study, verify and confirm innovative control techniques. To implement a simple control algorithm, achieve upright stabilization and precise tracking control under external disturbances constitutes a serious challenge. Observer-based linear quadratic regulator (LQR) controller and linear matrix inequality (LMI) are proposed for the upright stabilization of the system. Simulation studies are performed using step input magnitude, and the results are analyzed. Time response specifications, integral square error (ISE), integral absolute error (IAE) and mean absolute error (MAE) were employed to investigate the performances of the proposed controllers. Based on the comparative analysis, the upright stabilization of the pendulum was achieved within the shortest possible time with both controllers however, the LMI controller exhibits better performances in both stabilization and robustness. Moreover, the LMI control scheme is effective and simple.
This document presents an output-based input shaping and proportional integral derivative (PID) control for load hoisting control of a 3D crane system. Unlike conventional input shaping that uses model parameters, output-based filtering is designed using the target system's output signal to avoid issues from model uncertainties. Simulation results show precise payload positioning with negligible sway is achieved. The proposed hybrid control is robust and can be easily implemented on higher order systems. Logarithmic decrement techniques are used to determine the crane system's damping ratio and natural frequency, simplifying the design. An output-based filter is designed by minimizing the difference between the target system and reference system outputs. Filter gains are then calculated to shape the input and reduce residual vibrations
Robust second order sliding mode control for a quadrotor considering motor dy...ijctcm
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain
parameters presented based on high order sliding mode control (HOSMC). A controller based on the
HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor
dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method.
The performance and effectiveness of the proposed controller are tested in a simulation study taking into
account external disturbances with consider to motor dynamics. Simulation results show that the proposed
controller eliminates the disturbance effect on the position and attitude subsystems efficiency that can be
used in real time applications.
Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dy...ijctcm
This document presents a robust second order sliding mode control approach for controlling the position and attitude of a quadrotor helicopter that considers motor dynamics. A nonlinear dynamic model of the quadrotor is developed that includes motor dynamics. Based on this model, a controller is designed using higher order sliding mode control techniques to independently control the altitude, longitudinal, latitudinal, and heading motions of the quadrotor. Simulation results show that the proposed controller is effective at eliminating disturbances and can be used for real-time applications.
Similar to Neuro-fuzzy-based anti-swing control of automatic tower crane (20)
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
Design and simulation an optimal enhanced PI controller for congestion avoida...TELKOMNIKA JOURNAL
This document describes using a snake optimization algorithm to tune the gains of an enhanced proportional-integral controller for congestion avoidance in a TCP/AQM system. The controller aims to maintain a stable and desired queue size without noise or transmission problems. A linearized model of the TCP/AQM system is presented. An enhanced PI controller combining nonlinear gain and original PI gains is proposed. The snake optimization algorithm is then used to tune the parameters of the enhanced PI controller to achieve optimal system performance and response. Simulation results are discussed showing the proposed controller provides a stable and robust behavior for congestion control.
Improving the detection of intrusion in vehicular ad-hoc networks with modifi...TELKOMNIKA JOURNAL
Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
Conceptual model of internet banking adoption with perceived risk and trust f...TELKOMNIKA JOURNAL
Understanding the primary factors of internet banking (IB) acceptance is critical for both banks and users; nevertheless, our knowledge of the role of users’ perceived risk and trust in IB adoption is limited. As a result, we develop a conceptual model by incorporating perceived risk and trust into the technology acceptance model (TAM) theory toward the IB. The proper research emphasized that the most essential component in explaining IB adoption behavior is behavioral intention to use IB adoption. TAM is helpful for figuring out how elements that affect IB adoption are connected to one another. According to previous literature on IB and the use of such technology in Iraq, one has to choose a theoretical foundation that may justify the acceptance of IB from the customer’s perspective. The conceptual model was therefore constructed using the TAM as a foundation. Furthermore, perceived risk and trust were added to the TAM dimensions as external factors. The key objective of this work was to extend the TAM to construct a conceptual model for IB adoption and to get sufficient theoretical support from the existing literature for the essential elements and their relationships in order to unearth new insights about factors responsible for IB adoption.
Efficient combined fuzzy logic and LMS algorithm for smart antennaTELKOMNIKA JOURNAL
The smart antennas are broadly used in wireless communication. The least mean square (LMS) algorithm is a procedure that is concerned in controlling the smart antenna pattern to accommodate specified requirements such as steering the beam toward the desired signal, in addition to placing the deep nulls in the direction of unwanted signals. The conventional LMS (C-LMS) has some drawbacks like slow convergence speed besides high steady state fluctuation error. To overcome these shortcomings, the present paper adopts an adaptive fuzzy control step size least mean square (FC-LMS) algorithm to adjust its step size. Computer simulation outcomes illustrate that the given model has fast convergence rate as well as low mean square error steady state.
Design and implementation of a LoRa-based system for warning of forest fireTELKOMNIKA JOURNAL
This paper presents the design and implementation of a forest fire monitoring and warning system based on long range (LoRa) technology, a novel ultra-low power consumption and long-range wireless communication technology for remote sensing applications. The proposed system includes a wireless sensor network that records environmental parameters such as temperature, humidity, wind speed, and carbon dioxide (CO2) concentration in the air, as well as taking infrared photos.The data collected at each sensor node will be transmitted to the gateway via LoRa wireless transmission. Data will be collected, processed, and uploaded to a cloud database at the gateway. An Android smartphone application that allows anyone to easily view the recorded data has been developed. When a fire is detected, the system will sound a siren and send a warning message to the responsible personnel, instructing them to take appropriate action. Experiments in Tram Chim Park, Vietnam, have been conducted to verify and evaluate the operation of the system.
Wavelet-based sensing technique in cognitive radio networkTELKOMNIKA JOURNAL
Cognitive radio is a smart radio that can change its transmitter parameter based on interaction with the environment in which it operates. The demand for frequency spectrum is growing due to a big data issue as many Internet of Things (IoT) devices are in the network. Based on previous research, most frequency spectrum was used, but some spectrums were not used, called spectrum hole. Energy detection is one of the spectrum sensing methods that has been frequently used since it is easy to use and does not require license users to have any prior signal understanding. But this technique is incapable of detecting at low signal-to-noise ratio (SNR) levels. Therefore, the wavelet-based sensing is proposed to overcome this issue and detect spectrum holes. The main objective of this work is to evaluate the performance of wavelet-based sensing and compare it with the energy detection technique. The findings show that the percentage of detection in wavelet-based sensing is 83% higher than energy detection performance. This result indicates that the wavelet-based sensing has higher precision in detection and the interference towards primary user can be decreased.
A novel compact dual-band bandstop filter with enhanced rejection bandsTELKOMNIKA JOURNAL
In this paper, we present the design of a new wide dual-band bandstop filter (DBBSF) using nonuniform transmission lines. The method used to design this filter is to replace conventional uniform transmission lines with nonuniform lines governed by a truncated Fourier series. Based on how impedances are profiled in the proposed DBBSF structure, the fractional bandwidths of the two 10 dB-down rejection bands are widened to 39.72% and 52.63%, respectively, and the physical size has been reduced compared to that of the filter with the uniform transmission lines. The results of the electromagnetic (EM) simulation support the obtained analytical response and show an improved frequency behavior.
Deep learning approach to DDoS attack with imbalanced data at the application...TELKOMNIKA JOURNAL
A distributed denial of service (DDoS) attack is where one or more computers attack or target a server computer, by flooding internet traffic to the server. As a result, the server cannot be accessed by legitimate users. A result of this attack causes enormous losses for a company because it can reduce the level of user trust, and reduce the company’s reputation to lose customers due to downtime. One of the services at the application layer that can be accessed by users is a web-based lightweight directory access protocol (LDAP) service that can provide safe and easy services to access directory applications. We used a deep learning approach to detect DDoS attacks on the CICDDoS 2019 dataset on a complex computer network at the application layer to get fast and accurate results for dealing with unbalanced data. Based on the results obtained, it is observed that DDoS attack detection using a deep learning approach on imbalanced data performs better when implemented using synthetic minority oversampling technique (SMOTE) method for binary classes. On the other hand, the proposed deep learning approach performs better for detecting DDoS attacks in multiclass when implemented using the adaptive synthetic (ADASYN) method.
The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
Implementation of FinFET technology based low power 4×4 Wallace tree multipli...TELKOMNIKA JOURNAL
Many systems, including digital signal processors, finite impulse response (FIR) filters, application-specific integrated circuits, and microprocessors, use multipliers. The demand for low power multipliers is gradually rising day by day in the current technological trend. In this study, we describe a 4×4 Wallace multiplier based on a carry select adder (CSA) that uses less power and has a better power delay product than existing multipliers. HSPICE tool at 16 nm technology is used to simulate the results. In comparison to the traditional CSA-based multiplier, which has a power consumption of 1.7 µW and power delay product (PDP) of 57.3 fJ, the results demonstrate that the Wallace multiplier design employing CSA with first zero finding logic (FZF) logic has the lowest power consumption of 1.4 µW and PDP of 27.5 fJ.
Evaluation of the weighted-overlap add model with massive MIMO in a 5G systemTELKOMNIKA JOURNAL
The flaw in 5G orthogonal frequency division multiplexing (OFDM) becomes apparent in high-speed situations. Because the doppler effect causes frequency shifts, the orthogonality of OFDM subcarriers is broken, lowering both their bit error rate (BER) and throughput output. As part of this research, we use a novel design that combines massive multiple input multiple output (MIMO) and weighted overlap and add (WOLA) to improve the performance of 5G systems. To determine which design is superior, throughput and BER are calculated for both the proposed design and OFDM. The results of the improved system show a massive improvement in performance ver the conventional system and significant improvements with massive MIMO, including the best throughput and BER. When compared to conventional systems, the improved system has a throughput that is around 22% higher and the best performance in terms of BER, but it still has around 25% less error than OFDM.
Reflector antenna design in different frequencies using frequency selective s...TELKOMNIKA JOURNAL
In this study, it is aimed to obtain two different asymmetric radiation patterns obtained from antennas in the shape of the cross-section of a parabolic reflector (fan blade type antennas) and antennas with cosecant-square radiation characteristics at two different frequencies from a single antenna. For this purpose, firstly, a fan blade type antenna design will be made, and then the reflective surface of this antenna will be completed to the shape of the reflective surface of the antenna with the cosecant-square radiation characteristic with the frequency selective surface designed to provide the characteristics suitable for the purpose. The frequency selective surface designed and it provides the perfect transmission as possible at 4 GHz operating frequency, while it will act as a band-quenching filter for electromagnetic waves at 5 GHz operating frequency and will be a reflective surface. Thanks to this frequency selective surface to be used as a reflective surface in the antenna, a fan blade type radiation characteristic at 4 GHz operating frequency will be obtained, while a cosecant-square radiation characteristic at 5 GHz operating frequency will be obtained.
Reagentless iron detection in water based on unclad fiber optical sensorTELKOMNIKA JOURNAL
A simple and low-cost fiber based optical sensor for iron detection is demonstrated in this paper. The sensor head consist of an unclad optical fiber with the unclad length of 1 cm and it has a straight structure. Results obtained shows a linear relationship between the output light intensity and iron concentration, illustrating the functionality of this iron optical sensor. Based on the experimental results, the sensitivity and linearity are achieved at 0.0328/ppm and 0.9824 respectively at the wavelength of 690 nm. With the same wavelength, other performance parameters are also studied. Resolution and limit of detection (LOD) are found to be 0.3049 ppm and 0.0755 ppm correspondingly. This iron sensor is advantageous in that it does not require any reagent for detection, enabling it to be simpler and cost-effective in the implementation of the iron sensing.
Impact of CuS counter electrode calcination temperature on quantum dot sensit...TELKOMNIKA JOURNAL
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
A progressive learning for structural tolerance online sequential extreme lea...TELKOMNIKA JOURNAL
This article discusses the progressive learning for structural tolerance online sequential extreme learning machine (PSTOS-ELM). PSTOS-ELM can save robust accuracy while updating the new data and the new class data on the online training situation. The robustness accuracy arises from using the householder block exact QR decomposition recursive least squares (HBQRD-RLS) of the PSTOS-ELM. This method is suitable for applications that have data streaming and often have new class data. Our experiment compares the PSTOS-ELM accuracy and accuracy robustness while data is updating with the batch-extreme learning machine (ELM) and structural tolerance online sequential extreme learning machine (STOS-ELM) that both must retrain the data in a new class data case. The experimental results show that PSTOS-ELM has accuracy and robustness comparable to ELM and STOS-ELM while also can update new class data immediately.
Electroencephalography-based brain-computer interface using neural networksTELKOMNIKA JOURNAL
This study aimed to develop a brain-computer interface that can control an electric wheelchair using electroencephalography (EEG) signals. First, we used the Mind Wave Mobile 2 device to capture raw EEG signals from the surface of the scalp. The signals were transformed into the frequency domain using fast Fourier transform (FFT) and filtered to monitor changes in attention and relaxation. Next, we performed time and frequency domain analyses to identify features for five eye gestures: opened, closed, blink per second, double blink, and lookup. The base state was the opened-eyes gesture, and we compared the features of the remaining four action gestures to the base state to identify potential gestures. We then built a multilayer neural network to classify these features into five signals that control the wheelchair’s movement. Finally, we designed an experimental wheelchair system to test the effectiveness of the proposed approach. The results demonstrate that the EEG classification was highly accurate and computationally efficient. Moreover, the average performance of the brain-controlled wheelchair system was over 75% across different individuals, which suggests the feasibility of this approach.
Adaptive segmentation algorithm based on level set model in medical imagingTELKOMNIKA JOURNAL
For image segmentation, level set models are frequently employed. It offer best solution to overcome the main limitations of deformable parametric models. However, the challenge when applying those models in medical images stills deal with removing blurs in image edges which directly affects the edge indicator function, leads to not adaptively segmenting images and causes a wrong analysis of pathologies wich prevents to conclude a correct diagnosis. To overcome such issues, an effective process is suggested by simultaneously modelling and solving systems’ two-dimensional partial differential equations (PDE). The first PDE equation allows restoration using Euler’s equation similar to an anisotropic smoothing based on a regularized Perona and Malik filter that eliminates noise while preserving edge information in accordance with detected contours in the second equation that segments the image based on the first equation solutions. This approach allows developing a new algorithm which overcome the studied model drawbacks. Results of the proposed method give clear segments that can be applied to any application. Experiments on many medical images in particular blurry images with high information losses, demonstrate that the developed approach produces superior segmentation results in terms of quantity and quality compared to other models already presented in previeous works.
Automatic channel selection using shuffled frog leaping algorithm for EEG bas...TELKOMNIKA JOURNAL
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Neuro-fuzzy-based anti-swing control of automatic tower crane
1. TELKOMNIKA Telecommunication Computing Electronics and Control
Vol. 21, No. 4, August 2023, pp. 891~900
ISSN: 1693-6930, DOI: 10.12928/TELKOMNIKA.v21i4.24044 891
Journal homepage: http://telkomnika.uad.ac.id
Neuro-fuzzy-based anti-swing control of automatic tower crane
Saleh B. Al-Tuhaifi, Kasim Mousa Al-Aubidy
Mechatronics Engineering Department, Faculty of Engineering and Technology, Philadelphia University, Amman, Jordan
Article Info ABSTRACT
Article history:
Received May 22, 2022
Revised Jan 15, 2023
Accepted Feb 16, 2023
Controlling the position of the final load and the anti-swing control of the
loads during the operation of the tower crane are challenging tasks. These
are the most important control issues for safe operation, which are difficult
to achieve easily with conventional control systems. Hence, the need to
integrate the concepts of soft-computing into the tower crane control system.
The aim of this research work is to design an adaptive-network-based fuzzy
inference system (ANFIS) controller to move the payload to the final position
with the lowest possible swing angle. To evaluate the ability of the proposed
controller to meet the control requirements, its performance was compared to
three other controllers: a conventional proportional derivative (PD) controller,
a fuzzy-tuned PD controller and a fuzzy controller. MATLAB-based
computer simulations of the crane and controllers were carried out to verify
and compare the performance of the proposed controllers. The obtained
results show the effectiveness of the ANFIS-based controller in adjusting the
load position while keeping the load fluctuations small at the final position.
The load oscillation angle is about ±2.28° with the ANFIS controller while it
is about ±10° when using the PD controller. In addition, only one ANFIS
controller is used for both load position and swing angle control.
Keywords:
ANFIS controller
Fuzzy control
Fuzzy-tuned PID controller
Intelligent control
Tower crane
This is an open access article under the CC BY-SA license.
Corresponding Author:
Kasim Mousa Al-Aubidy
Mechatronics Engineering Department, Faculty of Engineering and Technology
Philadelphia University, Amman, Jordan
Email: kma@philadelphia.edu.jo
1. INTRODUCTION
Tower cranes are widely used in factories, ports and high building constructions to lift heavy goods
to great heights, or to move them from one place to another. Crane control systems are a vital area of
scientific research and need more studies and research works, especially with the development of computer
and communication technologies. They have worked to develop control systems for cranes that have the
ability to move the load as quickly as possible and keeping the swing angle as small as possible in the final
position [1]. On the other hand, the crane needs a skilled operator who has the ability to handle the control
system easily in order to move the payload and prevent it from swinging. Swing motion can be reduced by
decreasing the trolley speed and this leads to a decrease in productivity [2]. Therefore, many studies have
focused on the development of anti-swing control systems for tower crane [3]. Some have used open-loop
control strategies, including input shaping [4], filtering [5], and command smoothing [6], while others have
suggested closed-loop control strategies. There are several control strategies used for crane control including
linear control [7], model predictive control [8], adaptive control [9], sliding mode control [10], [11],
proportional integral derivative (PID) controllers [12], gain scheduling control [2] and others [13]. These control
methods need an accurate mathematical model of the lever in order to derive the required controller, and the
parameters of the controller need to be updated due to the dynamics of the lever [12], [14]. Obtaining the exact
mathematical model of the tower crane, which simulates its operation with changing weight, load shape and
2. ISSN: 1693-6930
TELKOMNIKA Telecommun Comput El Control, Vol. 21, No. 4, August 2023: 891-900
892
wind speed, is not an easy task and requires an online update. The design of most traditional controllers depend
on the mathematical model of the tower crane, and because of the simplification of these models,
the performance of these controllers was not as expected due to the dynamics of the crane. Recently, most
studies and research have been directed towards incorporating artificial intelligence (AI) concepts into
control systems to improve the performance of tower cranes [14]. Therefore, intelligent control systems
appeared that used fuzzy logic [15], [16], or neural networks [17], [18] as well as genetic algorithms [19].
Selma et al. [14] and Benhellal et al. [20] have used a combination of fuzzy logic and neural networks, or a
combination of neural networks and genetic algorithms [21], [22] to improve the performance of the control
system. Moreover, soft-computing tools, such as fuzzy logic, were also used to online tuning of the PID
controller parameters without the need for a lever mathematical model [23], [24].
The main objective of this paper is to drive the jib and trolley of the tower crane from the initial
position to the final position with an acceptable speed and high accuracy so that the swing angle is as low as
possible. An adaptive-network-based fuzzy inference system (ANFIS)-based controller for a tower crane is
proposed in this paper. The performance of the ANFIS-based controller is compared with three controllers;
a conventional proportional derivative (PD) controller, a fuzzy-tuned PD controller, and a fuzzy logic
controller. The rest of the paper is organized as; the structure and mathematical model of a tower crane are
described in section 2. Control methods are discussed in section 3. The design of an ANFIS-based controller
is given in section 4. Simulation and comparison results are discussed in section 5. Finally, the conclusion
and some proposed future work are presented in section 6.
2. MATHEMATICAL MODEL OF TOWER CRANE
A real tower crane is a complex structure that includes the base, mast, boom, balance beams, trolley
and control systems. In this paper, an educational crane of type “Quanser 3 DOF” was used, as shown in
Figure 1. It is a compact version of the tower crane, as illustrated in Figure 1(a), has three degrees of
freedom; the tower rotates in both directions, the trolley moves along the horizontal segment, and the height
of the load can be changed. The jib rotates clockwise and counterclockwise and has a trolley moving along
the jib using a motor. The trolley has a cable to lift the load up or down using another motor. Three motors
are driven by electronic drive units and optical sensors to measure position and speed [25]. There are many
ways to obtain a mathematical model of a tower crane, including the use of finite element analysis and
Lagrangian methods [1], [26]. In order to obtain an accurate dynamic model representing the tower crane
systems, several parameters have to be included when deriving the mathematical model. Such a model is a
set of nonlinear equations, and it is difficult to use it for controller design or for performance analysis
because the computation would be too complex. In fact, several assumptions are made to simplify the
obtained model. For example, some mathematical models have included sensors and actuators, while some
studies and research do not. In general, the mathematical model of tower crane appears nonlinear. Thus, it is
easier to implement linearization to get an approximate linear model.
The jib rotates in a horizontal plane and carries a trolley that moves radially. The trolley carries the
load through a variable length (l) cable. The loading position above any point in the workplace is handled by
the combined movements of both the trolley and the jib. In fact, the jib system model is similar to the
inverted pendulum model, as illustrated in Figure 1(b), where:
− 𝑋: the horizontal axis along which the cart moves
− 𝑍: the vertical axis along which the tower rotates
− 𝛼: the rotation angle about the 𝑥-axis
− ɤ: the rotation angle about the 𝑦-axis
− 𝜃: the rotation angle about the 𝑧-axis
(a) (b)
Figure 1. Quanser 3 DOF tower crane layout [25]: (a) crane layout and (b) free body diagram
3. TELKOMNIKA Telecommun Comput El Control
Neuro-fuzzy-based anti-swing control of automatic tower crane (Saleh B. Al-Tuhaifi)
893
The jib is modeled as a two-dimensional linear gantry by assuming the payload is at a fixed height and
is fixed about the gimble angle (𝛼), and the movement is perpendicular to the jib length. In other words, it is
assumed the payload rotates only about gimble angle (ɤ). The mathematical model of the tower crane is a
nonlinear system, so the Lagrange method is used to find the nonlinear dynamics of the crane. The following
equations are used to obtain the state space matrices [25].
ẋ = 𝐴 × 𝑥 + 𝐵 × 𝑢 and 𝑦 = 𝐶 × 𝑥 + 𝐷 × 𝑢 (1)
Where:
𝐴 =
[
0 0 1 0
0 0 0 1
0
0
−
𝑚𝑝 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦
2 𝑔
𝑚𝑡𝑟𝑜𝑙𝑙𝑒𝑦 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦
2+𝐽𝛹 𝐾𝑔.𝑗
2
−
𝑔(𝑚𝑡𝑟𝑜𝑙𝑙𝑒𝑦 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦
2+𝑚𝑝 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦
2+𝐽𝛹𝐾𝑔.𝑗
2
(𝑚𝑡𝑟𝑜𝑙𝑙𝑒𝑦 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦
2+𝐽𝛹 𝐾𝑔.𝑗
2)𝑙𝑝
0
0
0
0
]
(2)
𝐵 =
[
0
0
𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦 ɳ𝑔.𝑗 𝐾𝑔.𝑗 ɳ𝑚.𝑗 𝐾𝑡.𝑗
𝑚𝑡𝑟𝑜𝑙𝑙𝑒𝑦 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦
2+𝐽𝛹𝐾𝑔.𝑗
2
𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦 ɳ𝑔.𝑗 𝐾𝑔.𝑗 ɳ𝑚.𝑗 𝐾𝑡.𝑗
(𝑚𝑡𝑟𝑜𝑙𝑙𝑒𝑦 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦
2+𝐽𝛹𝐾𝑔.𝑗
2)𝑙𝑝]
(3)
𝐶 = [
1 0 0 0
0 1 0 0
] 𝐷 = [
0
0
] (4)
Where:
− ɳ𝑚.𝑗: jib motor efficiency
− 𝐾𝑡.𝑗: jib cart motor torque constant (before gear ratio)
− 𝐾𝑔.𝑗: cart motor gearbox gear ratio
− ɳ𝑔.𝑗: cart motor gearbox efficiency
− 𝑟𝑗.𝑝𝑢𝑙𝑙𝑒𝑦: radius of trolley pulley from pivot to end of tooth
− 𝑚𝑡𝑟𝑜𝑙𝑙𝑒𝑦: mass of trolley
− 𝑙𝑝: vertical distance of payload from jib arm
− 𝐽𝑝𝑠𝑖: jib motor equivalent moment of inertia
Then, the transfer functions of the given tower crane are given by [25].
𝑥(𝑠)
𝐼(𝑠)
=
18.25𝑠2+207.3
𝑠4+13.33𝑠2 (5)
ɤ(𝑠)
𝐼(𝑠)
=
21.13
𝑠2+13.33
(6)
3. METHODS OF CONTROL
Tower cranes are responsible for lifting and transporting goods in many areas, and their work can be
divided into three types: lifting the load, moving the trolley and meanwhile rotating the jib, and placing the
load. However, with the movement of the jib and the trolley, the phenomenon of load oscillation appears and
has become a problem that must be solved. Therefore, tower cranes are considered a non-linear system.
A closed loop control system is required to control both the position (𝑋0) and swing angle (ɤ), as shown in
Figure 2. In this paper, an ANFIS-based intelligent controller is designed and implemented to move the load
as quickly as possible and keep the swing angle as small as possible in the end position. In order to ensure the
efficiency of the proposed intelligent controller and its ability to meet the required control requirements,
a comparison was made with three well known controllers: a conventional proportional PD controller, fuzzy-tuned
PD controller, and a fuzzy logic controller.
4. ISSN: 1693-6930
TELKOMNIKA Telecommun Comput El Control, Vol. 21, No. 4, August 2023: 891-900
894
Figure 2. General layout of crane control system
3.1. Conventional PD controller
The conventional PID controller is one of the most widely used linear control technologies in crane
control systems. The main problem of this controller is the continuous updating of its parameters, which are
mainly based on the mathematical model of the crane. The parameters of the PID controller can also be updated
using intelligent algorithms that do not depend entirely on the mathematical model of the crane. For the
mathematical model obtained for the tower crane used in this research, the PD controller is sufficient to meet the
required control requirements. Figure 3 shows a simulation of both the tower crane and the PD controller model.
The parameter values for 𝐾𝑝 and 𝐾𝑑 of the controller were well chosen to obtain the best response. The main
disadvantage of this controller is the real-time tuning of the parameters of the controller that depends on the
dynamics of the crane.
Figure 3. Simulation block diagram of a conventional PD controller
3.2. Fuzzy-tuned PD control
Several attempts have proposed new methods for self-tuning of PID controller parameters based on
the mathematical model of the crane and others using intelligent algorithms. In this paper, a fuzzy tuner was
used to adjust the parameters of the PD controller according to the error (E) and error change (CE), as shown
in Figure 4. Two inputs have been applied to the fuzzy tuner; the error, calculated by comparing the reference
input with the actual output, and the CE. The input variables (E and CE) are represented by seven fuzzy sets,
while the output variables (𝐾𝑝 and 𝐾𝑑) are represented by three fuzzy sets, as shown in Figure 5. There are
49 fuzzy rules, as given in Table 1, used by the fuzzy inference engine to determine the updated values of
controller parameters. The simulation of the tower crane and the fuzzy-tuned PD controller is given in Figure 6.
Table 1. Rules for fuzzy tuned PD controller
Error (E) Error (E)
Change
error
(CE)
NB NM NS Z PS PM PB NB NM NS Z PS PM PB
NB P Z N N N Z P N P P N P P N
NS P P Z N Z P P N Z P P P Z N
NM P P Z N Z P P N N Z P Z N N
Z P P P Z P P P N N N Z N N N
PS P P Z N Z P P N N Z P Z N N
PM P P Z N Z P P N Z P P P Z N
PB P Z N N P Z P N P P P N P N
(a) 𝐾𝑝 rules (b) 𝐾𝑑 rules
5. TELKOMNIKA Telecommun Comput El Control
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Figure 4. Structure of fuzzy-tuned PD controller
Figure 5. Membership function of input and output variables for fuzzy tuned PD controller
Figure 6. Simulation block diagram of fuzzy tuner of PD controller
3.3. Fuzzy controller
A fuzzy logic controller (FLC) has been used to compute the required actuating signal (U) according
to the error and error change. Figure 7 shows fuzzy set controller elements in Figure 7(a) and input and
output variables in Figure 7(b). Each variable is coded by seven fuzzy sets; large negative (LN), medium
negative (MN), small negative (SN), zero (Z), small positive (SP), medium positive (MP), and large positive
(LP), as shown in Figure 8. The implemented fuzzy controller is in fact a collection of 49 linguistic rules,
as given in Table 2, which describe the relationships between inputs (E and CE), and output (U). The
Mamdani style inference was used, as well as the center-of-gravity defuzzification method to convert the
fuzzy output into a crisp value.
6. ISSN: 1693-6930
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Table 2. Rules for fuzzy controller
Error (E)
Error
change
(CE)
LN MN SN Z SP MP LP
LN LN MN MN MN SN Z SP
MN LN MN SN SN SN Z SP
SN LN MN SN SN Z SP MP
Z MN SN SN Z SP SP MP
SP MN SN Z SP SP MP LP
MP SN Z SP SP SP MP LP
LP SN Z SP MP MP MP LP
(a) (b)
Figure 7. Fuzzy controller layout and fuzzy sets: (a) fuzzy controller elements dan (b) fuzzy sets for
input/output variables
Figure 8. Simulation block diagram of fuzzy controller
4. ANFIS-BASED CONTROLLER DESIGN
An adaptive network based fuzzy inference system is a fuzzy inference system implemented within
the framework of adaptive networks. ANFIS combines the advantages of both neural networks and fuzzy
logic into a single framework. It is an approach that has a (non-linear) mapping defined using fuzzy if-then
rules. The operation of ANFIS can be expressed as linguistic fuzzy expressions and the learning schemes of
NNs are used to learn controller parameters. The ANFIS controller is widely used to control the non-linear
system. Since the tower crane is a non-linear system, ANFIS was adopted in this paper to control both the
payload position (𝑋0) and the swing angle (ɤ).
The proposed ANFIS controller is used to create an input-output mapping based on a set of fuzzy
if-then rules and input-output data pairs to control both the position (𝑋0) and swing angle (ɤ). It combines the
ability of rule-based fuzzy controller and the learning ability of a neural network to improve the membership
functions of fuzzy sets. The ANFIS model architecture, as shown in Figure 9, consists of two parts;
the condition part and the conclusion part, which are linked to each other by rules in the form of a multi-layer
neural network. The first layer has 14 nodes to execute the fuzzification process. The second layer has 49 nodes
to implement the fuzzy and operation of the condition part of the fuzzy rules. The third layer has 49 nodes to
normalize the membership functions. The fourth layer is a single node that executes the conclusion part of the
fuzzy rules, and finally the fifth layer is a single node to compute the output of fuzzy system by summing up
the outputs of previous layer. Figure 9 outlines the main six steps of the implemented ANFIS controller.
7. TELKOMNIKA Telecommun Comput El Control
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− Step 1. Input data: the 441 pairs of input data will be divided into three sets: training data (272 pairs),
testing data (85 pairs), and validation data (84 pairs).
− Step 2. Fuzzification: the crisp input variables are transformed into fuzzy sets. In this case, the number
of fuzzy sets and the shape of the membership functions must be chosen carefully.
− Step 3. Fuzzy implication: in this step the structure and fuzzy rules of ANFIS are determined.
− Step 4. Parameters learning: adjustment of weights and modification of input/output membership functions
using least square error and backpropagation from the training dataset and the testing dataset. Figure 10
shows training data for ANFIS with 1000 iterations (epochs).
− Step 5. Defuzzification: this process maps a fuzzy set output to a crisp set output.
− Step 6. Output data: the generated control signal is transferred to the actuating element of the tower crane.
Figure 9. ANFIS model structure
Figure 10. Training data for ANFIS controller
5. RESULTS AND DISCUSSIONS
Several tests were carried out on the proposed ANFIS controller to verify its efficiency in
controlling the payload position and swing angle of the tower crane. The main reason for using the ANFIS
controller is that it does not need the exact mathematical model of the tower crane, the parameters of which
change with the dynamics of the crane and the shape and weight of the load. In this case, a single controller is
used to control both the payload position and the swing angle. Only an approximate model of the tower crane
is required for the simulation study.
The performance of the ANFIS controller has been compared with other controllers in terms of response
time specifications including; delay time, rise time, settling time, steady-state error, and maximum overshoot. The
time response of the system using PD, fuzzy-tuned PD, and fuzzy controllers for position is given in Figure 11(a),
and for swing angle in Figure 11(b). When using an ANFIS-based controller, there was a clear improvement in the
behavior of the system compared to the fuzzy controller, as given in Figure 12. Where Figure 12(a) shows the time
response of the position, and Figure 12(b) for the swing angle. Referring to Table 3, the results show that the
conventional PD controller achieved a stable response with a delay time of 1.298 seconds, a rise time of
4.148 seconds, a settling time of 10.567 seconds, and a maximum overshoot of 0.2%.
As it can be seen from the results that the use of conventional PD controller and fuzzy-tuned PD
controller produces oscillation with amplitude of 20° and 18.25° respectively, compared to the fuzzy logic
controller of about 6.06°. Although the position of the load follows the reference input, the oscillation of the
sway angle requires treatment when using such model-dependent controllers that needs to update its
parameters (𝐾𝑝 and 𝐾𝑑) with any change in tower crane dynamics. One of the reasons for using fuzzy logic to
control a tower crane is its ability to control both the payload position and the swing angle without the need
for an accurate mathematical model of the crane.
8. ISSN: 1693-6930
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Table 3. Time response indicators for different controllers
Position
Controller type: PD Fuzzy tuned PD Fuzzy logic ANFIS
Delay time (s): 1.298 1.381 3.465 3.809
Rising time (s): 4.148 4.159 11.495 7.752
Settling time (s): 10.567 11.96 26.423 22.595
Overshoot %: 0.2% 0.6% 0 0
Steady state error: 0 0 0.001 0.003
Swing angle
Controller type: PD PD tuned fuzzy Fuzzy logic ANFIS
Gamma (degree) [-10.90 ~ 9.10] [-9.85 ~ +8.40] [-3.0 ~ +3.03] [-2.28 ~ +2.28]
(a) (b)
Figure 11. Time response of the system using PD, fuzzy-tuned PD, and fuzzy controllers: (a) position and
(b) swing angle
It can be seen from the previous results that the ANFIS-based controller is able to give a faster
response compared to the fuzzy controller with rise time of 7.752 seconds, settling time of 22.595 seconds,
minimum steady-state error and no overshoot. It is clear from the results that the swing angle fluctuation
ranges from −2.28° to +2.28° for ANFIS controller, which is the lowest compared to other controllers.
The main advantages of the proposed ANFIS controller are its ability to control both the payload position and
swing angle as well as a model-independent approach that does not need to update its parameters depending
on the dynamics of the tower crane. Figure 13 shows a comparison of the main indicators of the performance
of the four controllers. These indicators show that the proposed ANFIS controller has the best performance
and has better response compared to other controllers. Although the values of delay time, rise time and
settling time are higher than the PD controller and the fuzzy-tuned PD controller, the swing angle
fluctuations are less compared to other controllers, making it the best controller to control the position and
swing angle of the crane.
(a) (b)
Figure 12. Time response of the system using ANFIS and fuzzy controllers: (a) position and (b) swing angle
9. TELKOMNIKA Telecommun Comput El Control
Neuro-fuzzy-based anti-swing control of automatic tower crane (Saleh B. Al-Tuhaifi)
899
Figure 13. Performance comparison of four controllers
6. CONCLUSION
This paper introduced an intelligent controller for tower cranes to move the load from one point to
another as quickly as possible so that the load fluctuation remains small during the transportation process and
in the final position. The mathematical model of the tower crane is a set of nonlinear equations, and the
design of the traditional control systems is mainly based on the mathematical model of the crane. Moreover,
the mathematical model of the crane is simplified for control and analysis purposes. From the obtained
results, it is proved that the ANFIS-based controller has a comprehensive advantage of robustness compared
with the traditional PD controller, fuzzy-tuned PD controller and fuzzy controller. The ANFIS-based
controller has better overall performance in terms of both payload position and swing angle variation.
The oscillation angle of the payload is within ±2.28° with the ANFIS controller while it is about ±10° for the
PD controller. In addition, the ANFIS controller is a model-independent approach and can be implemented by
an embedded microcontroller. It is not necessary to update the parameters of the controller every time the
dynamics of the crane or the shapes of the load change, because everything is done by the ANFIS approach.
In this paper only one ANFIS controller is used for both payload position and swing angle control.
ACKNOWLEDGEMENTS
The authors thank the Deanship of Scientific Research and Graduate Studies at Philadelphia
University Jordan for supporting the publication of the research.
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BIOGRAPHIES OF AUTHORS
Saleh B. Al-Tuhaifi received his BSc degree in mechatronics engineering from
the Hashemite University, Jordan in 2020. He is currently MSc student majoring in
mechatronics engineering at Philadelphia University, Jordan, and working as mechatronics
engineer in the department of operation and maintenance at the Arap Open Univesity, Jordan.
His research interests include Embedded systems, Softcomputing, Robotics and automation.
He can be contacted at email: sale7briemah@gmail.com, 202010547@philadelphia.edu.jo,
sale7briemah@gmail.com, Research id: HKF-7985-2023.
Kasim Mousa Al-Aubidy received his B.Sc and M.Sc degrees in control and
computer engineering from the University of Technology, Iraq in 1979 and 1982, respectively,
and Ph.D degree in real-time computing from the University of Liverpool, England in 1990.
He is currently a professor and dean of Faculty of Information Technology and dean of
Architecture and Desisgn at Philadelphia University, Jordan. His research interests include
embedded systems, robotics and automation, fuzzy logic, neural networks, genetic algorithm,
and their real-time applications. He is also the chief editor of two international journals, and a
member of editorial board of several scientific journals. He has coauthored 4 books, four
chapters in books, and published 102 papers on topics related to computer applications. He can
be contacted at email: kma@philadelphia.edu.jo.