INSTITUTIONAL BASED RESEARCH (IBR)

Principal researcher:
Name :Engr. Muhammed Bappamaudo Suleimam
Institution : Federal Polytechnic Bali
Department : Electrical/Electronics Engineering Technology
Phone number : 08165506833
Email : bappamaudo2015@gmail.com
Co-researcher
Name : Mohammed Buhari Mohammed
Institution : Federal Polytechnic Bali
Department: Electrical/Electronic Engineering Technology
Phone number : 08032416423
Emaill: buharimuhammad722@gmail.com

PROJECT TITLE: Development of an optimized Sliding Mode Controller for Stabilization and
Tracking of Gantry Crane Position

EXECUTIVE SUMMARY

Gantry crane is a type of overhead crane with single or double girder configuration supported by
freestanding legs that move on a wheels or along track or rail system. Gantry cranes has
applications in mining, steel mills, ports, special construction sites, assembly lines and factory for
transporting heavy loads. Inertia forces due to prescribed motion of the payload and excitation of
the base due to motions in the supporting mechanism of the crane, external disturbance such as
wind could result in unwanted motions of the crane. These factors generate swinging of the load
during the transportation process. Existing nonlinear controllers show a good system performance
when compared to linear controllers that whose performance deteriorate with increase in operation
range and uncertainty, hence the need for nonlinear controller that will guarantee system
performance in presence of uncertainty.

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This research project aims to design and develop a sliding mode controller to enhance the stability
of gantry crane system. The proposed controller will address the nonlinear dynamics and external
disturbances that affect the system performance.

The project objectives are to:

 Develop a mathematical model of gantry crane system

 Design a sliding mode controller
 Simulate and validate the controller’s performance using MATLAB/Simulink
 Optimize the gains parameters of the developed sliding mode controller using Smell
Agent Optimization
 Compare the Gantry Crane System performance using the developed sliding mode with
and without the Smell Agent Optimization technique.

The expected outcomes include improve stabilization, enhanced system robustness, reduced
oscillations and increased safety. This research will contribute to the development of advanced
control strategies for gantry crane system, benefiting various industries that rely on these
systems.

The research will be completed within 18 months with a budget of N3, 000, 000. The research
team consists of experienced personnel, and the project’s success will be ensured through regular
monitoring and evaluation.

The project has a potential to make a significant impact on the control and automation of gantry
crane systems, leading to increase efficiency, safety and productivity in various industries.

INTRODUCTION

1.1 Background of the Study

Gantry crane are widely used in various industries such as manufacturing, construction, and
logistics for material handling and transportation. Gantry cranes have applications in mining, steel
mills, ports, special construction sites, and assembly lines. However, in the process of transporting
such loads, load swinging occurs as a result of acceleration or deceleration of the crane which tend
to affect the positioning precision of the load (Abdullahi et al,, 2018). Payload pendulation and
load position precision are two important aspects of the crane system.

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Undesirable crane motions or disturbances such as load bouncing, twisting and swinging coupled
with external disturbance such as wind are common during load hoisting operation. The
performance and productivity of the system is affected drastically due to the present of this
unwanted motions as they affect precise positioning of the payload (Abdullahi et al,, 2018).
Accidents and damages to buildings or facilities that are close to crane could occurs due to the
swinging or pendulation of the payload (Yoon et al,, 2014). Rapid application of crane system for
lifting and loads transportation in industries and ports leads to evolvement of high-speed operating
cranes. This fast speed operation in absence of control system will lead to presence of high
swinging of the load which tends to affect the precision in movement of the load and result in
creating a danger zone by causing damage to equipment, facilities and structures around the crane
(Kim et al,, 2014; Le et al,, 2014).

Efficient controllers that will guarantee safety and performance are important due to the fact that,
these cranes are increasingly bigger and faster (Abdel-Rahman et al,, 2003). The crane system is
a special case of control system (termed under actuated) in which the number of control variables
is higher than the input variables (fewer inputs are used to control many outputs) (Lu Biao et al,,
2018; Renuka and Mathew, 2013). The area of application of the crane system at times can
influence the management of the payload swing. In some aspects, during payload transportation,
large pendulation of the load is allowed during travelling stage as long as residual pendulation at
the destination point is insignificant to prevent accurate load positioning (Abdel-Rahman et al,,
2003). In cluttered workspace like nuclear reactor zone, almost zero pendulation or swing of the
load is expected during travelling stage and at load destination by imposing stiffed conditions on
swing suppression.

Inertia forces due to prescribed motion of the payload and excitation of the base because of motions
in the supporting mechanism of the crane could result in these unwanted motions of the crane.
Earlier techniques employed by crane operators is to perform load maneuvering slowly or stop the
operation in order to dampen out motion of the payload when such occurred. Such operations
introduce time delay, reduce crane efficiency and increase operating cost hence the need for
automatic control (Abdel-Rahman et al,, 2003). In the process of designing controller for a crane
system, almost all the design decisions use a trade-off between having the load transported as fast
as possible and having a safe (i.e. less load swing) transportation (Pauluk, 2016).

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Several conceptual and constructive control methods had been applied in the stabilization and
adaptive control of nonlinear systems such as the crane, and most of these methods rely on
application of energy (Lyapunov) function to the construction of the control law or in close loop
analysis of the system (Astolfi and Ortega, 2003).

The sliding mode control (SMC) is one the robust nonlinear control technique that has been applied
for the stabilization and position of the GCS. This work will employ the smell agent optimization
technique (SAO) to tune the gains of the SMC in order to have a better performance of the GCS
when compared with the conventional tuning.

1.2 Statement of the Problem

Load swing due to nonlinear dynamics and external disturbances is a common problem during
crane operation which may lead to instability, poor load positioning and reduced safety. Several
control techniques have been proposed for crane stabilization. Nevertheless, the presence of
external disturbances and uncertainty during crane operation limits the efficiency of the proposed
approaches. Thus, making it difficult to achieved stabilization and set-point tracking in the gantry
crane system. However, good control of disturbances can allow for compensation of these negative
effects, thereby enhancing the robustness of the system to changes in GCS parameters. The SMC
technique is a robust nonlinear controller which had been applied for stabilization and position
control of GCS. This research proposes the use of smell agent optimization technique (SAO) to
tune the gains of the SMC in order to have a better performance of the GCS when compared with
the conventional tuning. The controller if developed and applied on the system will guarantee
stability and robustness against uncertainty because it had proved to be a promising tool in
nonlinear systems stabilization.

1.3 Aim of the Research

The aim of this research is to develop a sliding mode controller augmented with SAO
Scheme for stabilization and tracking of load position coordinates in the gantry crane system
(GCS).

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1.4 Objectives of the Study

The project objectives are to:

 Develop a mathematical model of gantry crane system

 Design a sliding mode controller
 Simulate and validate the controller’s performance using MATLAB/Simulink
 Optimize the gains parameters of the developed sliding mode controller using Smell
Agent Optimization
 Compare the Gantry Crane System performance using the developed sliding mode with
and without the Smell Agent Optimization technique.

2.0 LITERATURE REVIEW

Renuka and Mathew (2013) analyzed the performance of proportional-integral-differential (PID)

controller on different models of crane system. Two-dimensional (2D) and three-dimensional (3D)
models were considered with inclusion of cable hoisting, frictional force and wind disturbance
dynamics. Simulation and analysis were done on the system and it was observed that the complex
nature of the system reduced the performance of the controller with present of oscillation in the
swing angle, trolley displacement and cable hoisting. In conclusion, it was found out that there is
compromise between having a precise load positioning control and reduction in load swing, hence
the need for an improvement on the controller in order to guarantee both precision positioning and
load swing reduction.

Khan (2013) proposed a nonlinear robust controller for an elastic drive system using a two-mass-
model of a milling machine. The controller design is based on Immersion and Invariance technique
and it is used to achieve position control and suppression of vibration in the two-mass model
milling system. The developed control methodology was simulated and transient analysis was
carried out and the result is compared with that of other control techniques (i.e. PID) and
input/output feedback linearization) where the proposed controller showed better performance in
terms of transient stability, robustness to parameter variation and external disturbance.

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Li et al, (2013) presented a controller for stabilization of an aircraft wing rock system. The
stabilizing controller is designed based on immersion and invariance design concept and the
control objective is to have all the system states regulated to zero equilibrium point. In this regard,
the controller was simulated and its performance was compared to backstepping control technique
where the proposed IIC outperformed the backstepping controller in terms of the faster
convergence of the system states to the zero equilibrium.

Pauluk (2016) present a time-optimal linear quadratic controller for swing reduction in 3D crane.
Supervision of the control process and elimination of the undesired features of the optimal
trajectory is done by the linear quadratic (LQ) controller that also ensured robustness of the
controller with respect to nonlinear models by using the idea of neighboring optimal trajectories.
Results from simulations and experiments showed the presented control was able to reduced
swinging of the load by 25% and 35% in x and z-directions respectively. This is an improvement
over previously proposed optimal control techniques but with present of oscillations after some
times, hence the room for further research.

Nguyen et al, (2017) proposed adaptive sliding mode controller (SMC) based on radial basis
function (RBF) network for overhead crane. The SMC is used to suppress load swinging and
achieved load positioning precision. The RBF network is used to compensate the uncertain
nonlinear function contained in the SMC control law. In other to have a stable control, an adaptive
tuning algorithm was added to tune gain parameters of the classical SMC. Results of the proposed
control system was compared to that of classical SMC technique and the proposed out performed
the classical controller in terms of parametric variation and robustness to disturbance but with the
present of oscillation. Residual oscillations of the payload make it an open area for further research
to obtain a controller that will further suppress the swinging of the load.

He et al, (2017) proposed barrier-Lyapunov function (BLF)-based controller for boundary

vibration control of 2D crane with output constraint. Active vibration control laws were
constructed using Lyapunov energy function one to take care of the longitudinal vibration in the
hoisting cable while the other takes care of the transverse vibration of the hoisting cable all in order
to suppress the swinging of the payload within a set boundary condition. Thus, the controller was
able to achieved the set objective but this control is only for a particular work environment. Hence,
the need for a generalized control system.

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Chwa (2017) proposed a nonlinear anti-swing controller based on SMC. The work considered a
3D model of the crane system that include movement of the trolley, girder, and payload swing.
The SMC controller was able to reduce the payload swing and track the desired position of the
load, but with present of oscillation even after a particular duration of time and chattering of the
control signal. The work reported that, the chattering in the control signal can be taken care of but
at the expense of robustness of the controller, hence the need for an improvement on the nonlinear
robust controller that will guarantee fast swing reduction and improve productivity of the system.

Naskar and Pal (2017) proposed a self-tuning fuzzy-proportional-differential (PD) controller for
payload swing reduction and precise load positioning in crane system. The fuzzy logic algorithm
is used to tune the parameters of the PD controller. In order to achieve the tuning task, a type-1
fuzzy logic is use to tune type-2 fuzzy logic that formed the self-tuning fuzzy logic. This control
technique proved to be successful in reducing payload swing and achieving load positioning at the
desired position when compared to the existing conventional methods (T1FLPDC, T2FLPDC and
T1STFLDDC). This method gave improved result with regards to swing reduction and load
position, but there is no standard tool for tuning the type-2 fuzzy logic, hence the need for a
standard control technique.

Liu et al, (2018) developed a modified fuzzy-PID controller for minimization of harsh sea
conditions on salvage crane. Wave compensator algorithm which is an improved version of the
traditional fuzzy-PID algorithm due to modification of the fuzzy aspects (rules, inputs and output).
The E and EC rules are used simultaneously to update the PID parameters and these rules were
reduced from the usual 49 rules to 14 rules, fewer reasoning items were obtained in order to have
less reasoning time and fast controller response. This result in better performance of the system
with the improved fuzzy-PID controller when compared to the traditional fuzzy-PID in terms of
disturbance rejection and system stability. Thus, the controller did better when compared to the
existing ones in literatures but there is still need to improve on the controller in order to takes into
account system states for better stabilization and improved efficiency.

Lu Biao et al, (2018) developed a model of dual gantry crane and proposed a nonlinear controller
for stabilization of the crane system. Lyapunov function and Lasalle theorem were used to design
the control law. Stability analysis and simulations results showed the proposed controller was able
to stabilized the system at desired equilibrium point.

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The control scheme was compared to that of LQR, PID and independent control methods in which
the proposed out performed the other three controllers in terms of reduction in load swing and
position tracking.

Abdullahi et al, (2018) proposed an adaptive output-based command shaping control technique
for swing reduction in overhead crane system. The work considered a model that includes cable
hoisting, variable payload mass and wind disturbance to the system. The controller is design by
selecting a reference model that best described the desired system and connect it in forward loop
with the actual system, while the controller is place in series with the actual system with it output
signal being an input to the system. In this control technique, the poles of the actual system were
replaced with poles of the reference model by the zeros of the controller. Simulations of the system
was carried out with the results compared with that of existing controllers (i.e. extra insensitive
(EI) and zero-vibration-derivative-derivative control (ZVDD)) in which the proposed
outperformed the other two input shaper controllers in terms of disturbance rejection and load
swing reduction. Thus, the controller performed well but there is present of oscillation at the output
of the system and it is valid for small operation range, hence the need for the improvement on the
controller in order to guarantee stability even with wide operation time.

Hussein et al., (2020) proposed a sliding mode control (SMC) for the stabilization of overhead
cranes system structures for lifting and conveying weighty loads. The asymptotically stability of
the system was carried out using Lyapunov functions. For validation of the proposed controller, a
comparative study with LQR (Linear Quadratic Regulator) results show that both the controllers
give satisfactory performance, but the SMC provides better overall performance. The proposed
sliding mode control approach for overhead cranes system has shown to be more effective, robust
and realistic than a LQR controller, and to be able to move cargo safely to a destination even in
harsh environment. Despite, the performance of SMC over LQR, there is still present of oscillation
at the output of the system and it is valid for small operation range, hence the need to optimize the
controller gains to improve on the controller in order to guarantee stability even with wide
operation time.

In conclusion, from the literature reviews that has been carried out on the crane control system,
performance specification of the crane control system is only met by most of the linear and
nonlinear controllers for small parameter variation and narrow operating condition.

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Hence, there is need to design a robust controller that will employed the use of smell agent
optimization algorithm to optimized the gain parameters of SMC that can handle uncertainty and
external disturbances during crane operation. This research proposes the development of an
optimize SMC for the stabilization of overhead crane system to address this problem of uncertainty
and disturbance.it is expected that increased efficiency of the crane control system would be
improved on the application of intelligent optimization technique.

3.0 MATERIALS AND METHOD

3.1 MATERIALS

The materials that will for used for the execution of this research work are Computer Hardware
and the Software

3.1.1 Computer Hardware

PC computer with the following features will be used:

Processor: Intel(R) Core(TM) i5-3470 CPU @ 3.20GHz

Installed memory (RAM): 8.00GB (7.88 GB usable)

System type: 64-bit Operating System, x64-based processor

Pen and Touch: No Pen Touch Input is available for this Display

3.1.2. Computer Software

MATLAB is a widely used programming language for algorithm development, data analysis,
visualization, and numerical computation. It has a long history in communications system design
and is used by both academics and practitioners. It lets designers focus on algorithms rather than
low-level programming. Many of its features and capabilities are perfect for modeling linear and
nonlinear systems:

(i) it has an interactive program and environment that matches the exploratory nature of science;
(ii) it provides seamless access to data and algorithms; and

(iii) it has tools for visualization, algorithm development, and data analysis.

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3.3 METHODOLOGY
In order to achieve the set objectives, the methodology to be adopted is given as follows:

1. Development of the Simulink model based on the mathematical model of GCS dynamics

a. To model the swing angular of the GCS

b. To model the angular velocity of the GCS.
c. To model the trolley position of the GCS.
d. To model the trolley velocity of the GCS.

2. Development of a sliding mode controller (SMC) for stabilization and tracking of the position
of the load of the developed GCS model in (1) and to optimize the gains parameters of the
developed controller based on (SAO):

a. Identify the parameters to be optimized from controller model.

b. Formulate optimization problem of the obtained parameters.
c. Apply the SAO optimization technique on 2(b) to tune the parameters of the controller.
d. Simulate the developed model in 1 with the developed controller in 2(c).
e. Evaluate the performance of the developed optimized SMC scheme base on steady state
error and settling time

3. Performance comparison and evaluation.

Compare the performance of the developed optimized control scheme to that of the un-optimized
schemed in terms of settling time, overshoot and steady state error and as performance matrices

4.0 Result Format.

The expected results are going to be presented using graph and could be descriptive where
necessary.
By running the MATLAB script, the performance of the proposed optimized sliding mode control
(OSMC) Gantry crane system versus SMC crane system will be obtained. The results of the
proposed OSMC is expected to outperform that of the SMC System without SAO Scheme.

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5.0 RESEARCH BUDGET BREAKDOWN

1. PERSONNEL
S/N PERSONNEL AMOUNT
I. Principal Researcher #300, 000
II. Co-Researcher #200, 000
III. Technician #100, 000
Total #600,000

2. EQUIPMENT
S/N EQUIPMENT AMOUNT
I Sensors and Actuators #600, 000
II Data acquisition System #500,000
III Computer and Software #300, 000
VI Miscellaneous Materials #100, 000
Total #1, 500, 000

3. TRAVEL AND TRAINING

S/N TRAVEL/TRAINING AMOUNT
I Local Travel #50, 000
II Local Conference/Journal #50, 000
III Workshop #100, 000
Total #200, 000
TOTAL BUDGET:

S/N ITERM PERCENT AMOUNT

1. Personnel 20% #600, 000
2. Equipment 50% #1,500, 000
3. Travel/Training 6.7% #200, 000
4. Miscellaneous 23.3% #700, 000
Total 100% #3, 000,000

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Signature of Principal Researcher Signature of Chairman ICR

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Signature of Head of Department Signature of Head of Institution

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