Anti - swing control strategy for automatic 3 dof crane system using FLC
The 3 Degree-of-Freedom (DOF) crane represents one of the most widely deployed real-world platforms in the world today. It uses levers and pulleys for gripping, lifting and moving loads horizontally, as well as lowering and releasing the gripper to the original position. Hence the system produ...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2008
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7441/1/24p%20RUSLINDA%20RUSLEE.pdf http://eprints.uthm.edu.my/7441/2/RUSLINDA%20RUSLEE%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/7441/3/RUSLINDA%20RUSLEE%20WATERMARK.pdf |
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| Summary: | The 3 Degree-of-Freedom (DOF) crane represents one of the most widely
deployed real-world platforms in the world today. It uses levers and pulleys for
gripping, lifting and moving loads horizontally, as well as lowering and releasing the
gripper to the original position. Hence the system produces swing angle which need to
be controlled so that the payload could be transferred efficiently. The existing 3 DOF
systems used conventional Linear Quadratic Regulator (LQR) controller to control the
position and swing angle. This project report proposed the usage of Fuzzy Logic
Controller (FLC) in place ofLQR controller. FLC has a simpler and practical design
approached. It avoids laborious mathematical formulation and computation thus
reducing operating time. The FLC performance for position control and anti-swing
control are compared with LQR controller using MA TLAB simulation. The simulation
results showed, under laboratory limitation, that FLC performed better compared to the
conventional LQR controller. |
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