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Vol. 230, Issue 2, February 2019, pp. 31-38




Comparative Studies of Hybrid Model-Dependent and Model-Free Controller Application
on Crane System

1 Haliru LIMAN, 2, * Nura Musa TAHIR, 2 Godwin SANI, 1 Ejike Chibuzo ANENE and 2 Adamu Yawale BABAWURO

1 Department of Electrical Engineering, Abubakar Tafawa Balewa University (ATBU) Bauchi, Nigeria
2 Department of Mechatronics and System Engineering, Abubakar Tafawa Balewa University (ATBU) Bauchi, Nigeria
E-mail: nuratahir85@gmail.com, mtnura@atbu.edu.ng


Received: 20 January 2019 /Accepted: 20 February 2019 /Published: 28 February 2019

Digital Sensors and Sensor Sysstems


Abstract: Gantry Crane is a machine used for shipping of goods from one point to another. Speed, accuracy and safety are of paramount importance in gantry crane (GC) operation, but operating GC results in unwanted sway which degrades the accuracy and safety. In this paper, hybrid control schemes are proposed for precise trolley position control and sway suppression in GC systems. Output Based input shaping (OBIS) filter was designed using the output of the system for sway suppression and proportional integral derivative (PID), linear quadratic regulator (LQR), higher order differential feedback (HODF) controllers were incorporated separately for precise trolley position control. Based on the analysis of the Simulation results, it was observed that LQR-OBIS controller shown more precise tracking and higher sway reduction control. But HODFC-OBIS is a model-free control schemes hence more robust.


Keywords: Gantry crane, OBIS filter, LQR, Sway, HODFC, Model-free.


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