Robust PD Sway Control of a Lifted Load for a Mobile Crane Using a Genetic Algorithm

Kazuo Kawada; Hiroyuki Sogo; Toru Yamamoto

doi:10.11499/sicep.2002.0.260.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.260.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Robust PD Sway Control of a Lifted Load for a Mobile Crane Using a Genetic Algorithm

Kazuo Kawada, Hiroyuki Sogo, Toru Yamamoto

Author information

Keywords: real-coded genetic algorithm, PD control, robust control, sway control, mobile crane

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 260

Details

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.

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