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Optimal Control of Double Pendulum Crane Using FOPID and Genetic Algorithm

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Methods and Applications for Modeling and Simulation of Complex Systems (AsiaSim 2023)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1912))

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Abstract

Gantry cranes are commonly utilized to transfer huge loads in construction projects as well as essential sectors such as petrochemical and nuclear power. The objective of their operation is to achieve high levels of precision in trolley positioning while simultaneously reducing the amplitudes of sway oscillations. The goal of control approaches is to achieve optimum operational efficiency by maintaining accurate trolley placement while simultaneously meeting safety requirements by reducing sway-induced oscillatory oscillations. To satisfy control objective this paper considered the design of fractional order PID (FOPID) with help of genetic algorithm to compute controller parameters using MATLAB Software. Simulation results showed the controller performance is better than classic PID and also it was capable of providing good response for different payload masses.

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Acknowledgment

This work is funded by the Ministry of Higher Education under FRGS, Registration Proposal No. FRGS/1/2020/ICT02/UTM/02/5 & UTM.

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Authors and Affiliations

  1. Control and Mechatronics Engineering Division, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310, Johor Bahru, Malaysia

    Mohamed O. Elhabib, Herman Wahid & Zaharuddin Mohamed

  2. Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia

    H. I. Jaafar

Authors
  1. Mohamed O. Elhabib
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  2. Herman Wahid
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  3. Zaharuddin Mohamed
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  4. H. I. Jaafar
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Corresponding author

Correspondence to Herman Wahid .

Editor information

Editors and Affiliations

  1. Universiti Teknologi Malaysia, Johor, Malaysia

    Fazilah Hassan

  2. Universiti Teknologi Malaysia, Johor, Malaysia

    Noorhazirah Sunar

  3. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohd Ariffanan Mohd Basri

  4. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohd Saiful Azimi Mahmud

  5. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohamad Hafis Izran Ishak

  6. Universiti Teknologi Malaysia, Johor, Malaysia

    Mohamed Sultan Mohamed Ali

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Elhabib, M.O., Wahid, H., Mohamed, Z., Jaafar, H.I. (2024). Optimal Control of Double Pendulum Crane Using FOPID and Genetic Algorithm. In: Hassan, F., Sunar, N., Mohd Basri, M.A., Mahmud, M.S.A., Ishak, M.H.I., Mohamed Ali, M.S. (eds) Methods and Applications for Modeling and Simulation of Complex Systems. AsiaSim 2023. Communications in Computer and Information Science, vol 1912. Springer, Singapore. https://doi.org/10.1007/978-981-99-7243-2_34

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  • DOI: https://doi.org/10.1007/978-981-99-7243-2_34

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  • Print ISBN: 978-981-99-7242-5

  • Online ISBN: 978-981-99-7243-2

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