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

抄録

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.