Backstepping control strategy for overhead crane system

• Published in: Engineering and Technology Journal Vol. 39; no. 3A; pp. 370 - 381
• Main Authors: Khudayr, muhammad Y., Kazim, Salim K., Hasan, Muhammad Y.
• Format: Journal Article
• Language: English
• Published: Baghdad, Iraq University of Technology 25-03-2021; Unviversity of Technology- Iraq
• Subjects: backstepping control; fuzzy logic; overhead crane; swinging; آلات الرفع; الباحثون; المنطق الضبابي
• ISSN: 1681-6900; 2412-0758
• DOI: 10.30684/etj.v39i3A.1738

Swinging on the shifted load by overhead crane is one of the main problems that all researchers suffer from. In addition, the crane system is a nonlinear and under-actuated system. Furthermore it is multivariable problem and it has coupling between its parameters (x,0). In this work, a developed type of anti-sway Backstepping controller is proposed to solve swinging on the shifted load for full non-linear overhead crane system. Simulation results were validated against the related articles previously published which used Fuzzy Logic control. The enhancement is measured for Backstepping control as a swinging to achieve 50.7%, 38.1% and 42.5% when it is compared with Fuzzy Logic control. The performance of the overhead crane is enhanced from 70.4% to 51% at the control action consumptions.