Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system

Amin A.M. Fadlalla; Mohamed Hassan

doi:10.1109/IEMTRONICS52119.2021.9422566

Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system

Amin A.M. Fadlalla
, Mohamed Hassan^*

^*Corresponding author for this work

Center for Integrative Petroleum Research

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

The overhead crane systems are important heavy-duty machines that are widely used, especially in construction and industry sectors to transport and lift heavy loads. This paper introduces the mathematical modeling of a 3-D overhead crane. The Euler-Lagrange equation is utilized to extract the dynamic equations of the crane system. The obtained nonlinear crane model has been linearized by applying the feedback linearization technique. Then, a PID controller has been developed and implemented to the obtained linearized crane model. The parameters of the designed PID controller have been tuned by implementing the Differential Evolution (DE) algorithm which significantly improved the performance of the PID controller. The simulation results have been performed using MATLAB/SIMULINK platform. The obtained simulation results clearly showed the impact of applying the Differential Evolution (DE) technique to tune the PID controller gains which provided better performance compared to the manually tuned PID controller gains.

Original language	English
Title of host publication	2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings
Editors	Satyajit Chakrabarti, Rajashree Paul, Bob Gill, Malay Gangopadhyay, Sanghamitra Poddar
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665440677
DOIs	https://doi.org/10.1109/IEMTRONICS52119.2021.9422566
State	Published - 21 Apr 2021

Publication series

Name	2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

Differential evolution
Dynamics
Feedback linearization
Overhead crane
PID control

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering
Control and Optimization
Instrumentation

Access to Document

10.1109/IEMTRONICS52119.2021.9422566

Cite this

Fadlalla, A. A. M., & Hassan, M. (2021). Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system. In S. Chakrabarti, R. Paul, B. Gill, M. Gangopadhyay, & S. Poddar (Eds.), 2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings Article 9422566 (2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IEMTRONICS52119.2021.9422566

Fadlalla, Amin A.M. ; Hassan, Mohamed. / Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system. 2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings. editor / Satyajit Chakrabarti ; Rajashree Paul ; Bob Gill ; Malay Gangopadhyay ; Sanghamitra Poddar. Institute of Electrical and Electronics Engineers Inc., 2021. (2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings).

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abstract = "The overhead crane systems are important heavy-duty machines that are widely used, especially in construction and industry sectors to transport and lift heavy loads. This paper introduces the mathematical modeling of a 3-D overhead crane. The Euler-Lagrange equation is utilized to extract the dynamic equations of the crane system. The obtained nonlinear crane model has been linearized by applying the feedback linearization technique. Then, a PID controller has been developed and implemented to the obtained linearized crane model. The parameters of the designed PID controller have been tuned by implementing the Differential Evolution (DE) algorithm which significantly improved the performance of the PID controller. The simulation results have been performed using MATLAB/SIMULINK platform. The obtained simulation results clearly showed the impact of applying the Differential Evolution (DE) technique to tune the PID controller gains which provided better performance compared to the manually tuned PID controller gains.",

keywords = "Differential evolution, Dynamics, Feedback linearization, Overhead crane, PID control",

author = "Fadlalla, \{Amin A.M.\} and Mohamed Hassan",

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year = "2021",

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Fadlalla, AAM & Hassan, M 2021, Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system. in S Chakrabarti, R Paul, B Gill, M Gangopadhyay & S Poddar (eds), 2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings., 9422566, 2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings, Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/IEMTRONICS52119.2021.9422566

Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system. / Fadlalla, Amin A.M.; Hassan, Mohamed.
2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings. ed. / Satyajit Chakrabarti; Rajashree Paul; Bob Gill; Malay Gangopadhyay; Sanghamitra Poddar. Institute of Electrical and Electronics Engineers Inc., 2021. 9422566 (2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Fadlalla, Amin A.M.

AU - Hassan, Mohamed

PY - 2021/4/21

Y1 - 2021/4/21

N2 - The overhead crane systems are important heavy-duty machines that are widely used, especially in construction and industry sectors to transport and lift heavy loads. This paper introduces the mathematical modeling of a 3-D overhead crane. The Euler-Lagrange equation is utilized to extract the dynamic equations of the crane system. The obtained nonlinear crane model has been linearized by applying the feedback linearization technique. Then, a PID controller has been developed and implemented to the obtained linearized crane model. The parameters of the designed PID controller have been tuned by implementing the Differential Evolution (DE) algorithm which significantly improved the performance of the PID controller. The simulation results have been performed using MATLAB/SIMULINK platform. The obtained simulation results clearly showed the impact of applying the Differential Evolution (DE) technique to tune the PID controller gains which provided better performance compared to the manually tuned PID controller gains.

AB - The overhead crane systems are important heavy-duty machines that are widely used, especially in construction and industry sectors to transport and lift heavy loads. This paper introduces the mathematical modeling of a 3-D overhead crane. The Euler-Lagrange equation is utilized to extract the dynamic equations of the crane system. The obtained nonlinear crane model has been linearized by applying the feedback linearization technique. Then, a PID controller has been developed and implemented to the obtained linearized crane model. The parameters of the designed PID controller have been tuned by implementing the Differential Evolution (DE) algorithm which significantly improved the performance of the PID controller. The simulation results have been performed using MATLAB/SIMULINK platform. The obtained simulation results clearly showed the impact of applying the Differential Evolution (DE) technique to tune the PID controller gains which provided better performance compared to the manually tuned PID controller gains.

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T3 - 2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings

BT - 2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings

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A2 - Gangopadhyay, Malay

A2 - Poddar, Sanghamitra

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Fadlalla AAM, Hassan M. Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system. In Chakrabarti S, Paul R, Gill B, Gangopadhyay M, Poddar S, editors, 2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2021. 9422566. (2021 IEEE International IOT, Electronics and Mechatronics Conference, IEMTRONICS 2021 - Proceedings). doi: 10.1109/IEMTRONICS52119.2021.9422566

Dynamic modeling and feedback linearization control of a 3-D overhead gantry crane system

Abstract

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Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this