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Updated: Jan 19, 2026
Experimental Methods to Study Human Postural Control
Published on: September 11, 2019
Experimental verification of a hybrid control scheme with chaotic whale optimization algorithm for nonlinear gantry
Mohamed Hamdy1, Raafat Shalaby2, Mostafa Sallam1
1Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf 32952, Egypt.
Abstract:
This paper proposes an experimental verification of a hybrid partial feedback linearization (PFL) and deadbeat (DB) control scheme as in Hamdy et al. (2018) with chaotic whale optimization algorithm (CWOA) for a nonlinear gantry crane (GC) system. The PFL linearizes the nonlinear model to end up with a linear closed-loop system. The DB controller is utilized for the desirable accelerated response without any oscillation or undesirable effects on the internal dynamics stability. The CWOA is used to tune the controller parameters. A sliding-mode observer (SMO) is utilized to estimate the unmeasured states. Using this hybrid scheme, a better payload sway elimination can be obtained. Finally, the experimental results are presented to illustrate the efficiency and the effectiveness of the proposed scheme with a comparative study.
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