Robust PID Controller Tuning for 2D Gantry Crane using Kharitonov's Theorem and Differential Evolution Optimizer

摘要

PID (proportional+integral+derivative) controller is well known as a simple and easy-to-implement controller. However, the design procedure is not straightforward for multi-input multi-output (MIMO) systems. It is even more complicated when robustness criterion must be handled. In this paper, a stable robust PID controller for anti-swing control of automatic gantry crane is proposed. The proposed method employs an automatic tuning using DE (differential evolution) to search for a set of PID controller gains that satisfy Kharitonov's polynomials robust stability criterion. This robust stability criterion is used to deal with parametric uncertainty occurs in gantry crane model. The simulation results show that a satisfactory robust PID control performance can be achieved. The PID controller is able to quickly move the cart of the crane while suppressing the swing of the payload for various conditions, i.e. payload mass and cable length variations.