Title :
Robust PD sway control of a lifted load for a mobile crane using a genetic algorithm
Author :
Kawada, Kazuo ; Sogo, Hiroyuki ; Yamamoto, Toru
Author_Institution :
Hiroshima Univ., Japan
Abstract :
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. In this paper, a new robust PD controller design scheme is proposed, which utilizes a genetic algorithm.
Keywords :
control system synthesis; cranes; genetic algorithms; motion control; nonlinear control systems; pole assignment; robust control; state-space methods; two-term control; genetic algorithm; genetic tuning scheme; industrial control systems; lifted load; mobile crane; nonlinear systems; numerical control; pole-assignment scheme; robust PD controller design scheme; robust PD sway control; state space model; time-varying systems; Control systems; Cranes; Genetic algorithms; Industrial control; Nonlinear control systems; Nonlinear systems; PD control; Robust control; Three-term control; Time varying systems;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195350
