Optimal PID controller tuning of automatic gantry crane using PSO algorithm

Abstract

In this paper, a novel method for tuning PID controller of automatic gantry crane control using particle swarm optimization (PSO) is proposed. PSO is one of the most recent optimization techniques based on evolutionary algorithm. PSO is also known as computationally efficient method. This work presents in detail how to apply PSO method in finding the optimal PID gains of gantry crane system in the fashion of min-max optimization. The simulation results show that with proper tuning a satisfactory PID control performance can be achieved to drive nonlinear plant. The controller is able to effectively move the trolley of the crane in short time while canceling the swing angle of the payload hanging on the trolley at the end position. The robustness of the controller is also tested.