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: | Proceeding Paper |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5381/1/icea2009_iwan_antiswingPID.pdf |
| _version_ | 1796875250824118272 |
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| 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 |
| collection | IIUM |
| 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. |
| first_indexed | 2024-03-05T22:36:04Z |
| format | Proceeding Paper |
| id | oai:generic.eprints.org:5381 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T22:36:04Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | oai:generic.eprints.org: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 Proceeding Paper 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 |
| 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 |
| title | 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_short | 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 |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/5381/1/icea2009_iwan_antiswingPID.pdf |
| work_keys_str_mv | AT solihinmahmudiwan robustpidantiswingcontrolofautomaticgantrycranebasedonkharitonovsstability AT martonowahyudi robustpidantiswingcontrolofautomaticgantrycranebasedonkharitonovsstability AT legowoari robustpidantiswingcontrolofautomaticgantrycranebasedonkharitonovsstability AT akmeliawatirini robustpidantiswingcontrolofautomaticgantrycranebasedonkharitonovsstability |