Analysis of Optimal Motion Performance for Underactuated Gantry Crane System using MOPSO with Linear Weight Summation Approach

Authors

  • H. I. Jaafar Center of Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia
  • S. Y. S. Hussien Center of Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia
  • R. Ghazali Center of Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia
  • Z. Mohamed Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia
  • J. J. Jamian Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia
  • M. S. M. Aras Center of Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia
  • M. N. M. Nasir Center of Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia
  • M. F. Sulaiman Center of Robotics and Industrial Automation (CeRIA), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia

Abstract


This paper present the development of Multi-Objective Particle Swarm Optimization (MOPSO) with Linear Weight Summation (LWS) approach to enhance the effectiveness and efficiency of Gantry Crane System (GCS). The purpose of using LWS is to control the desired trolley position and payload oscillation according to the Settling Time (Ts), Steady State Error (SSE) and Overshoot (OS). The effectiveness of variation in weight summation is observed to find the optimal motion performances of the system. It demonstrated that GCS is able to achieve the goals while able to move the trolley as fast as possible to the desired position with low payload oscillation. Through this approach, the best optimal motion performances can be achieved by setting similar value of weightage for OS and Ts and reduce the priority for SSE.

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Published

2014-12-30

How to Cite

Jaafar, H. I., Hussien, S. Y. S., Ghazali, R., Mohamed, Z., Jamian, J. J., Aras, M. S. M., Nasir, M. N. M., & Sulaiman, M. F. (2014). Analysis of Optimal Motion Performance for Underactuated Gantry Crane System using MOPSO with Linear Weight Summation Approach. Journal of Engineering and Technology (JET), 5(2), 39–50. Retrieved from https://jet.utem.edu.my/jet/article/view/159

Issue

Vol. 5 No. 2 (2014): JOURNAL OF ENGINEERING AND TECHNOLOGY

Section

Articles

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