Negative imaginary theorem with an application to robust control of a crane system

Abdullahi, Auwalu M. and Mohamed, Z and Zainal Abidin, M. S. and Akmeliawati, Rini and Husain, A. R. and Bature, Amir A. and Haruna, Ado (2016) Negative imaginary theorem with an application to robust control of a crane system. Jurnal Teknologi, 78 (6-11). pp. 33-39. ISSN 0127–9696 E-ISSN 2180–3722

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Abstract

This paper presents an integral sliding mode (ISM) control for a case of negative imaginary (NI) systems. A gantry crane system (GCS) is considered in this work. ISM is a nonlinear control method introducing significant properties of precision, robustness, stress-free tuning and implementation. The GCS model considered in this work is derived based on the x direction and sway motion of the payload. The GCS is a negative imaginary (NI) system with a single pole at the origin. ISM consist of two blocks; the inner block made up of a pole placement controller (NI controller), designed using linear matrix inequality for robustness and outer block made up of sliding mode control to reject disturbances. The ISM is designed to control position tracking and anti-swing payload motion. The robustness of the control scheme is tested with an input disturbance of a sine wave signal. The simulation results show the effectiveness of the control scheme.

Item Type:	Article (Journal)
Additional Information:	5806/51196
Uncontrolled Keywords:	Integral sliding mode control, negative imaginary systems, position tracking, payload sway motion contro
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	30 Jun 2016 11:03
Last Modified:	03 Jan 2017 11:52
URI:	http://irep.iium.edu.my/id/eprint/51196

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