Optimizing the Gains of PD Controller Using Artificial Bee Colony for Controlling the Rigid Gantry Crane System

Control position and reduction of swinging of the payload of a rigid gantry crane system is a challenging work because of under-actuated system. This paper addresses challenges by proposing the artificial bee colony (ABC) algorithm to optimize the gains of the PD controller to form what the so-called the artificial bee colony (ABC)-PD controller. The effectiveness of the proposed control algorithm is tested under constant step functions and compared with Ziegler-Nichols (ZN)-PD controller. The results show that the proposed controller produces slower rise time and peak time, but faster settling time than the ZN-PD controller as well as no overshoot under the predefined trajectories

Optimizing the Gains of PD controller Using Artificial Bee Colony for Controlling the Rigid Gantry Crane System

Control position and reduction of swinging of the payload of a rigid gantry crane system is a challenging work because of under-actuated system. This paper addresses challenges by proposing the artificial bee colony (ABC) algorithm to optimize the gains of the PD controller to form what the so-called the artificial bee colony (ABC)-PD controller. The effectiveness of the proposed control algorithm is tested under constant step functions and compared with Ziegler-Nichols (ZN)-PD controller. The results show that the proposed controller produces slower rise time and peak time, but faster settling time than the ZN-PD controller as well as no overshoot under the predefined trajectories.  Â

A Robust Offline Precomputed Optimal Feedforward Control Action for the Real Time Feedback/Feedforward Control of Double Pendulum Gantry Cranes

none1openvalentina orsiniOrsini, Valentin

Vibration control of a viscoelastic flexible marine riser with vessel dynamics

In this work, we investigate the asymptotic behavior of solutions of a viscoelastic flexible marine riser with vessel dynamics. Under a suitable control applied at the top end of the riser, we establish explicit decay rates for a large class of relaxation functions. In particular, exponentially and polynomially (or power type) decaying functions are included in this class. Our method is based on the multiplier technique. Numerical simulations justifying the effectiveness of the proposed boundary control to suppress the vibrations of the flexible marine riser are provided

Resilient Cluster Consensus of Multiagent Systems

We investigate the problems of resilient cluster consensus in directed networks under three types of multiagent dynamics, namely, continuous-time multiagent systems, discrete-time multiagent systems, and switched multiagent systems composed of both continuous-time and discrete-time components. Resilient cluster censoring strategies are proposed to ensure cluster consensus against locally bounded Byzantine nodes in a purely distributed manner, where neither the number/identity of Byzantine nodes nor the division of clusters is assumed. We do not require complicated algebraic conditions or any balance conditions over intercluster structures, distinguishing the current work from previous results on cluster consensus problems besides a fortiori the attack-tolerant feature. Sufficient conditions are established in all the three scenarios based on the graph robustness. Furthermore, we solve the heterogenous cluster robustness problems and resilient scaled cluster consensus problems as extensions. The theoretical results are illustrated through numerical examples including the Santa Fe collaboration network

Adaptive Vibration Control for an Active Mass Damper of a High-rise Building

As a kind of large flexible structure, high-rise buildings need to consider wind-resistant and anti-seismic problems for the safety of occupants and properties, especially in coastal areas. This paper proposes an infinite dimensional model and an adaptive boundary control law for an active mass damper(AMD) on this question. The dynamic model of the high-rise building is a combination of some storeys which have flexible walls and rigid floors under a series of physical conditions. Then the adaptive boundary controller is acted on an AMD which is equipped on the top floor, in order to suppress the vibration of every floor and guarantee the comfort of residents. Moreover, simulations and experiments are carried out on a two-floor flexible building to illustrate the effectiveness of the proposed control strategy

Boundary control of flexible mechanical systems

Ph.DDOCTOR OF PHILOSOPH