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Distributed delay adaptive output-based command shaping for different cable lengths of double-pendulum overhead cranes

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Abstract

This paper presents a new robust combined command shaping for effective hook and payload sways reduction of double-pendulum overhead crane. Double-pendulum overhead crane is highly nonlinear under actuated system. A distributed delay adaptive output-based command shaping is proposed in this work for effective and efficient control of hook and payload sways. Simulations and experimental results were obtained to investigate the performance of the proposed control, as compared to Adaptive output-based command (AOC) shaper and Distributed delay input shaping (DZV). The performance of the proposed control was measured based on Mean Absolute Error (MAE) values. The proposed method reduced the MAE values by 81.85%, 74.60% and 85.17%, 78.79% as compared to the DZV and AOC for hook and payload sways, respectively. Similar, results were observed in the experiments, where the proposed method has reduces the MAE by 64.22%, 58.15% and 59.00%, 52.14% as compared to the DZV and AOC for hook and payload sways, respectively. These results show that the proposed control is highly effective and efficient for both hook and payload sway controls as compared to AOC and DZV acting alone.

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Acknowledgements

This study is supported via funding from Prince Sattam bin Abdulaziz University project number (PSAU/2023/R/1444).

Funding

This study is supported via funding from Prince Sattam bin Abdulaziz University Project Number (PSAU/2023/R/1444).

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Authors and Affiliations

  1. Mechatronics Engineering Department, Faculty of Engineering, Bayero University, Kano, Nigeria

    Auwalu M. Abdullahi, Musa M. Bello & M. Attahir

  2. Department of Mechanical Engineering, College of Engineering in Alkharj, Prince Sattam Bin Abdulaziz University, 11942, Alkharj, Saudi Arabia

    Muktar Fatihu Hamza

  3. School of Electrical Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia

    Z. Mohammed & Musa M. Bello

  4. Electrical Engineering Department, Faculty of Engineering, Bayero University, Kano, Nigeria

    Fatima A. Darma

Authors
  1. Auwalu M. Abdullahi
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  2. Muktar Fatihu Hamza
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  3. Z. Mohammed
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  4. Musa M. Bello
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  5. M. Attahir
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  6. Fatima A. Darma
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Contributions

AMA and MFH contributed to conceptualization and simulations; AMA helped in methodology; MMB, AMA, MFH, ZM, and MA done experimental validation; MMB and FAD performed formal analysis; AMA, MFH, and MA elped in writing original draft preparation; ZM and MFH helped in writing review and editing; AMA, MFH, ZM, MA, MMB, and FAD provide approval of the manuscript; MFH contributed to supervision; ZM, MMB, and FAD helped in project administration; MFH helped in funding acquisition.

Corresponding author

Correspondence to Muktar Fatihu Hamza.

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On behalf of the authors, I declare that there is no conflict of interest concerning the publication of this manuscript whatsoever. Also, I declare that the work is not currently under consideration in any journal.

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Abdullahi, A.M., Hamza, M.F., Mohammed, Z. et al. Distributed delay adaptive output-based command shaping for different cable lengths of double-pendulum overhead cranes. Int. J. Dynam. Control 12, 1466–1476 (2024). https://doi.org/10.1007/s40435-023-01280-9

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  • DOI: https://doi.org/10.1007/s40435-023-01280-9

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