PSO-tuned PID controller for a nonlinear double-pendulum crane system

Abstract

This paper proposes an efficient PID controller for control of a double-pendulum crane system. Two different fitness functions of a particle swarm optimization (PSO) algorithm are used for the purpose of designing a controller. An accurate positioning with minimum hook and payload oscillations are tested with or without considering the parameters of the payload into the fitness function based on the horizontal distance sways of the crane. To test the effectiveness of the both approaches, extensive simulations are carried out under various crane operating conditions involving different payload masses. Their performances are examined based on the trolley positioning response and hook and payload oscillations reductions. Reductions of mean squared error (MSE) in the oscillations with a better trolley positioning response is obtained. It is envisaged that the appropriate fitness function can be very useful for determining satisfactory responses for double-pendulum crane system.