{"id":6831,"date":"2026-06-22T06:42:30","date_gmt":"2026-06-22T06:42:30","guid":{"rendered":"https:\/\/en.kecbu.uobaghdad.edu.iq\/?p=6831"},"modified":"2026-06-22T06:42:30","modified_gmt":"2026-06-22T06:42:30","slug":"al-khwarizmi-college-of-engineering-held-a-master-thesis-defense-on-designing-a-robust-controller-for-an-underactuated-overhead-crane-system","status":"publish","type":"post","link":"https:\/\/en.kecbu.uobaghdad.edu.iq\/?p=6831","title":{"rendered":"Al-Khwarizmi College of Engineering Held a Master Thesis Defense on Designing a Robust Controller for an Underactuated Overhead Crane System"},"content":{"rendered":"<div class=\"wpb-content-wrapper\"><p>[vc_row][vc_column][vc_column_text css=&#8221;&#8221;]<\/p>\n<p style=\"text-align: justify;\"><span style=\"font-size: 17px;\">On Thursday, <strong>June, 18<sup>th<\/sup> ,2026<\/strong> the department of Mechatronics engineering at Al-Khwarizmi College of engineering held a master thesis defense titled \u201cDesign a robust for an underactuated overhead crane system\u201d for the master candidate (Jasim Muhammad Khalif) at the thesis defense hall, where a degree of passing with merit was awarded for her research findings.<\/span><\/p>\n<p style=\"text-align: justify;\"><span style=\"font-size: 17px;\">The committee is composed of the following members:<\/span><\/p>\n<ul style=\"text-align: justify;\">\n<li><span style=\"font-size: 17px;\">Professor Dr. Bushra Kadhim Alawi, Chair<\/span><\/li>\n<li><span style=\"font-size: 17px;\">Professor Dr. Mahir Yahya Sallum, Examiner<\/span><\/li>\n<li><span style=\"font-size: 17px;\">Assistant Professor Dr. Yarub Omer Naji, Examiner<\/span><\/li>\n<li><span style=\"font-size: 17px;\">Professor Dr. Ali Hussein Muri, 1<sup>st<\/sup> Supervisor<\/span><\/li>\n<li><span style=\"font-size: 17px;\">Assistant Professor Ahmed Abd Atiyeh, 2<sup>nd<\/sup> Supervisor<\/span><\/li>\n<\/ul>\n<p style=\"text-align: justify;\"><span style=\"font-size: 17px;\">This thesis investigates the design of a robust controller for an underactuated overhead crane system, which is widely used in industrial material-handling applications and requires accurate positioning with minimal payload sway. The primary objective is to develop advanced control strategies capable of achieving precise trolley positioning while suppressing payload oscillations under external disturbances and system uncertainties.<\/span><\/p>\n<p style=\"text-align: justify;\"><span style=\"font-size: 17px;\">\u00a0Two control approaches are proposed. The first approach employs a Robust Fractional-Order PID (RFOPID) controller whose parameters are optimally tuned using the Particle Swarm Optimization (PSO) algorithm. A multi-objective cost function is formulated to improve tracking accuracy, reduce steady-state error, minimize overshoot, suppress oscillations, and enhance disturbance rejection.<\/span><\/p>\n<p style=\"text-align: justify;\"><span style=\"font-size: 17px;\">The second approach combines Feedback Linearization with Energy-Based Compensation to address nonlinear dynamics and coupling effects. The controller parameters are optimized using PSO, while system stability is analytically verified through Lyapunov stability theory. Simulation studies conducted in MATLAB\/Simulink demonstrate that the RFOPID controller outperforms conventional PID, PD, and LQR controllers in terms of tracking performance, oscillation suppression, and robustness.<\/span><\/p>\n<p style=\"text-align: justify;\"><span style=\"font-size: 17px;\">\u00a0Furthermore, the proposed composite controller based on Feedback Linearization and Energy-Based Compensation exhibits excellent disturbance rejection capability and maintains satisfactory performance under significant parameter uncertainties.<\/span><\/p>\n<p style=\"text-align: justify;\"><span style=\"font-size: 17px;\">\u00a0The obtained results confirm the effectiveness of the proposed methods for improving the safety, accuracy, and robustness of underactuated overhead crane systems.<\/span><\/p>\n<p>[\/vc_column_text][\/vc_column][\/vc_row][vc_row][vc_column width=&#8221;1\/2&#8243;][vc_single_image image=&#8221;6833&#8243; img_size=&#8221;full&#8221; css=&#8221;&#8221;][\/vc_column][vc_column width=&#8221;1\/2&#8243;][vc_single_image image=&#8221;6834&#8243; img_size=&#8221;full&#8221; css=&#8221;&#8221;][\/vc_column][\/vc_row][vc_row][vc_column width=&#8221;1\/2&#8243;][vc_single_image image=&#8221;6835&#8243; img_size=&#8221;full&#8221; css=&#8221;&#8221;][\/vc_column][vc_column width=&#8221;1\/2&#8243;][vc_single_image image=&#8221;6836&#8243; img_size=&#8221;full&#8221; css=&#8221;&#8221;][\/vc_column][\/vc_row][vc_row][vc_column width=&#8221;1\/2&#8243;][vc_single_image image=&#8221;6837&#8243; img_size=&#8221;full&#8221; css=&#8221;&#8221;][\/vc_column][vc_column width=&#8221;1\/2&#8243;][vc_single_image image=&#8221;6839&#8243; img_size=&#8221;full&#8221; css=&#8221;&#8221;][\/vc_column][\/vc_row]<\/p>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>[vc_row][vc_column][vc_column_text css=&#8221;&#8221;] On Thursday, June, 18th ,2026 the department of Mechatronics engineering at Al-Khwarizmi College of &#8230; <a class=\"cz_readmore\" href=\"https:\/\/en.kecbu.uobaghdad.edu.iq\/?p=6831\"><i class=\"fa czico-132-arrows-8\" aria-hidden=\"true\"><\/i><span>more<\/span><\/a><\/p>\n","protected":false},"author":27,"featured_media":6837,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_lmt_disableupdate":"","_lmt_disable":"","footnotes":""},"categories":[8,1],"tags":[],"class_list":["post-6831","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-masters-discussions","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.7 - 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