GSA–Tuned PID controller for a nonlinear gantry crane system

Nadarajan, Vasudevan (2021) GSA–Tuned PID controller for a nonlinear gantry crane system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This project introduces the implementation of an efficient PID+PD controller to control a nonlinear 2D Gantry Crane System (GCS). In order to find the optimal PID+PD parameters for the controller, investigation on the existing Particle Swarm Optimization (PSO), Priority–Fitness Binary PSO (PFBPSO) and Multi–Objective PSO (MOPSO) tuning techniques are used. The combination of PID and PD controllers are utilized for various desired positions and low payload mass oscillation control of the GCS, respectively. The transient responses and behavior of the GCS are observed and analyzed. Simulation is conducted within MATLAB environment to verify the overall performances of the GCS. Based on the investigation, MOPSO is shown to obtain optimal PID+PD parameters and provided the best transient responses of the GCS compared to PSO and PFBPSO. Therefore, the MOPSO is chosen as a benchmarking, and compared with a Multi-Objective Gravitational Search Algorithm (MOGSA) which is used in the investigation to observe the significant of an alternative meta-heuristic optimization for the GCS. Hence, based on the investigation, MOGSA is shown to obtain optimal PID+PD parameters and provided the best transient responses of the GCS compared to MOPSO.

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