الفهرس 
INTRODUCTIONOnly 14 pages are availabe for public view
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Abstract
Overhead cranes are widely used in industry to move extremely heavy and bulky loads through the overhead space in a facility instead of through aisles or on the floor. Unfortunately, the natural sway of a crane’s payload is a huge safety problem which needs more research by control engineers, as the sway of the payload affects both the safety and productivity of a factory. This thesis introduces an optimized mathematical model of both single-pendulum and double-pendulum models of overhead crane with two control schemes for each model. For single-pendulum model, two stable control schemes are constructed depending on PID and PD controllers and each of them is equipped with inlet derivative filter. The two control schemes consist of one PID controller for positioning the trolley and one PD controller for eliminating undesired sway angles of the payload. In the second scheme, the input voltage control signal is saturated to be always positive to keep the direction of rotation of the driving DC motor the same. The controllers include up to five gains and two inlet derivative filter coefficients which are tuned using Multi-Objective Genetic Algorithm (NSGA-II) with four different fitness functions and one weighted function to choose a suitable solution from other Pareto solutions. For double-pendulum model, one scheme uses three proportional–integral-derivative (PID) controllers with inlet derivative filters; the other scheme uses one PID controller for accurate trolley positioning and two anti-swing proportional–derivative controllers to eliminate hooks and payload sway, all with inlet derivative filters. The controllers include up to nine gains which are tuned using the multi-objective non-dominated sorting genetic algorithm-II with five fitness functions and weighted function to choose a suitable solution from other Pareto solutions. The simulation results are presented to show the upper hand of using the first scheme for double-pendulum model and the second scheme for single-pendulum model for an accurate positioning with minimum hook and payload oscillations.