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Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane

Nor Sakinah, Abdul Shukor and Mohd Ashraf, Ahmad (2018) Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 295-303. ISBN 9789811087875

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Abstract

This paper reports an investigation of Data-Driven PID tuning based on Safe Experimentation Dynamics (SED) for control of the Double-Pendulum-Type Overhead Crane (DPTOC) system. The SED algorithm is used to find the optimal PID parameters such that the hook and load swing angles are minimized. Performance comparison between the SED based method and Simultaneous Perturbation Stochastic Approximation (SPSA) based method for data-driven PID tuning is observed and discussed. The performance is evaluated by numerical example in terms of trolley trajectory tracking, hook and load swings reduction and control input energy. The findings demonstrated that the SED based data-driven PID is capable to reduce the hook and load swing angles while maintain the desired trolley trajectory position. In addition, faster settling time for control input energy is obtained.

Item Type: Book Section
Additional Information: Index by Scopus
Uncontrolled Keywords: Safe experimentation dynamics; Data-driven PID tuning; Double-pendulum-type overhead crane
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 06 Aug 2018 07:50
Last Modified: 06 Aug 2018 07:50
URI: http://umpir.ump.edu.my/id/eprint/21695
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