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GA-based PID Controller Design for Automatic Gantry Crane System

Mahmud Iwan Solihin, Wahyudi Wahyudi

Abstract


Gantry crane system is an underactuated system where the number of inputs is less than the number of outputs. When the input signal is given to the actuator, the trolley starts to accelerate whilst causing a sway of payload hanging on a flexible cable. Many researchers have proposed anti-sway  controls of gantry crane using PID+PD structure where PID controller is used for trolley positioning control and PD controller is used to dampen the sway oscillation. This is because of the simplicity of PID control structure. In this paper, GA-based PID+PD controller design for automatic gantry crane system is presented. Gantry crane dynamic model is used to tune controller gains using genetic algorithm (GA. The objective function of GA-based optimization takes into account the positioning error, sway angle and optimum control signal.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.635

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