Optimal tuning of PID+PD controller by PFS for Gantry Crane System

This paper presents a combination of the Priority Fitness Scheme (PFS) and optimization techniques to find the optimal performances of the Gantry Crane System. Control algorithm that based on the PFS will be designed and used as fitness function in PSO and BPSO. PFS are prioritized based on Steady State Error (SSE), Overshoot (OS) and Settling Time (Ts) according to the requirements. The system model is derived using the Lagrange equation and PID+PD controller is developed for positioning and oscillation control. System responses, including trolley displacement and payload oscillation are observed and analyzed. It is expected the optimal load transfers offer significant time saving with limited swing and smooth motions via PFPSO and PFBPSO.