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

Jaafar, Hazriq Izzuan and Mohd Ali, Nursabillilah and Mohamed, Zaharuddin and Selamat, Nur Asmiza and Anuar, Mohamed Kassim and Zainal Abidin, Amar Faiz and Jamian, Jasrul Jamani (2013) Optimal Performance of a Nonlinear Gantry Crane System via Priority-based Fitness Scheme in Binary PSO Algorithm. In: The 5th International Conference on Mechatronics (ICOM'13), 2-4 July 2013, Berjaya Times Square Hotel, Kuala Lumpur, Malaysia.

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Abstract

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.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Control, Instrumentation & Automation
Depositing User: HAZRIQ IZZUAN JAAFAR
Date Deposited: 20 Feb 2014 06:38
Last Modified: 28 May 2015 04:17
URI: http://eprints.utem.edu.my/id/eprint/11431

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