PSO-tuned PID controller for a nonlinear gantry crane system

This paper presents development of an optimal PID controller for control of a nonlinear gantry crane system. An improved PSO algorithm based on a priority-based fitness approach is implemented for finding optimal PID parameters. The system dynamic model is derived using Lagrange equation. A combinat...

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Bibliographic Details
Published in2012 IEEE International Conference on Control System, Computing and Engineering pp. 515 - 519
Main Authors Jaafar, Hazriq Izzuan, Mohamed, Z., Abidin, Amar Faiz Zainal, Ghani, Z. Ab
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2012
Subjects
Computational Intelligence
Cranes
Differential equations
Gantry crane
Mathematical models
Optimization
Oscillators
Particle swarm optimization
Payloads
PD control
PID
Simulation
Swarm Intelligence
Tuning
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ISBN9781467331425
1467331422
DOI10.1109/ICCSCE.2012.6487200

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Summary:This paper presents development of an optimal PID controller for control of a nonlinear gantry crane system. An improved PSO algorithm based on a priority-based fitness approach is implemented for finding optimal PID parameters. The system dynamic model is derived using Lagrange equation. A combination of PID and PD controllers are utilized for position and oscillation control of the system. System responses including trolley displacement and payload oscillation are observed and analyzed. Simulation is conducted within Matlab environment to verify the performance of the controller. It is demonstrated that the controller is effective to move the trolley as fast as possible to the desired position with low payload oscillation technique.
ISBN:9781467331425
1467331422
DOI:10.1109/ICCSCE.2012.6487200