Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability
PID (proportional+integral+derivative) control is known as simple and easy-to-implement controller. However, the robustness performance is often not satisfactory when dealing with parameter variations of the plant. In addition, its design procedure is not straightforward for the system which...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5381/ http://irep.iium.edu.my/5381/ http://irep.iium.edu.my/5381/ http://irep.iium.edu.my/5381/1/icea2009_iwan_antiswingPID.pdf |
| Summary: | PID (proportional+integral+derivative) control is
known as simple and easy-to-implement controller. However, the
robustness performance is often not satisfactory when dealing
with parameter variations of the plant. In addition, its design
procedure is not straightforward for the system which is nonSISO (Singe Input Single Output) system like a gantry crane. In
this paper, a stable robust PID controller for anti-swing control
of automatic gantry crane is proposed. The proposed method
employs Genetic Algorithm (GA) in min-max optimization to
find the stable robust PID. In the optimization, the robustness of
the controller is tested using Kharitonov’s polynomials robust
stability criterion to deal with parametric uncertainty appears in
gantry crane model. For practicality, the model is identified by
conducting simple open-loop experiment in the beginning. The
experimental results show that a satisfactory robust PID control
performance can be achieved. The controller is able to effectively
move the trolley of the crane in short time while canceling the
swing of the payload for different conditions of payload mass
and cable length variations. |
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