Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability

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...

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Main Authors: Solihin, Mahmud Iwan, Martono, Wahyudi, Legowo, Ari, Akmeliawati, Rini
Format: Conference or Workshop Item
Language:English
Published: 2009
Subjects:
TJ212 Control engineering
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
id iium-5381
recordtype eprints
spelling iium-53812012-01-25T00:22:36Z http://irep.iium.edu.my/5381/ Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability Solihin, Mahmud Iwan Martono, Wahyudi Legowo, Ari Akmeliawati, Rini TJ212 Control engineering 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. 2009-06-30 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/5381/1/icea2009_iwan_antiswingPID.pdf Solihin, Mahmud Iwan and Martono, Wahyudi and Legowo, Ari and Akmeliawati, Rini (2009) Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability. In: 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009, 25 - 27 May 2009, Xi'an, China. http://dx.doi.org/10.1109/ICIEA.2009.5138205 doi:10.1109/ICIEA.2009.5138205
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Solihin, Mahmud Iwan
Martono, Wahyudi
Legowo, Ari
Akmeliawati, Rini
Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability
description 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.
format Conference or Workshop Item
author Solihin, Mahmud Iwan
Martono, Wahyudi
Legowo, Ari
Akmeliawati, Rini
author_facet Solihin, Mahmud Iwan
Martono, Wahyudi
Legowo, Ari
Akmeliawati, Rini
author_sort Solihin, Mahmud Iwan
title Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability
title_short Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability
title_full Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability
title_fullStr Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability
title_full_unstemmed Robust PID anti-swing control of automatic gantry crane based on Kharitonov's stability
title_sort robust pid anti-swing control of automatic gantry crane based on kharitonov's stability
publishDate 2009
url 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
first_indexed 2023-09-18T20:13:57Z
last_indexed 2023-09-18T20:13:57Z
_version_ 1777407662285127680

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