Optimal Performance of a Nonlinear Gantry Crane System via Priority-based Fitness Scheme in Binary PSO Algorithm

This paper presents development of an optimal PID and PD controllers for controlling the nonlinear gantry crane system. The proposed Binary Particle Swarm Optimization (BPSO) algorithm that uses Priority-based Fitness Scheme is adopted in obtaining five optimal controller gains. The optimal gains ar...

Full description

Saved in:
Bibliographic Details
Main Authors: Jaafar, Hazriq Izzuan, Mohd Ali, Nursabillilah, Mohamed, Zaharuddin, Selamat, Nur Asmiza, Zainal Abidin, Amar Faiz, Jamian, Jasrul Jamani, Anuar, Mohamed Kassim
Format: Article
Language:English
Published: IOP Publishing 2013
Subjects:
Online Access:http://eprints.utem.edu.my/id/eprint/11335/1/2013_Journal_IOP.pdf
http://eprints.utem.edu.my/id/eprint/11335/
http://iopscience.iop.org/1757-899X/53/1/012011
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents development of an optimal PID and PD controllers for controlling the nonlinear gantry crane system. The proposed Binary Particle Swarm Optimization (BPSO) algorithm that uses Priority-based Fitness Scheme is adopted in obtaining five optimal controller gains. The optimal gains are tested on a control structure that combines PID and PD controllers to examine system responses including trolley displacement and payload oscillation. The dynamic model of gantry crane system is derived using Lagrange equation. Simulation is conducted within Matlab environment to verify the performance of system in terms of settling time (Ts), steady state error (SSE) and overshoot (OS). This proposed technique demonstrates that implementation of Priority-based Fitness Scheme in BPSO is effective and able to move the trolley as fast as possible to the various desired position.