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All Journal Mechatronics, Electrical Power, and Vehicular Technology Jurnal INKOM Jurnal Elektronika dan Telekomunikasi Teknologi Indonesia
Edwar Yazid
Research Centre for Electrical Power and Mechatronics – Indonesian Institutes of Sciences, Komp. LIPI Bandung, Jl Sangkuriang, Gd 20, Lt 2, Bandung West Java 40135, Indonesia
Computer Science & IT Electrical & Electronics Engineering Engineering

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Journal : Jurnal INKOM

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Optimizing the Gains of PD controller Using Artificial Bee Colony for Controlling the Rigid Gantry Crane System Yazid, Edwar
INKOM Journal Vol 11, No 1 (2017)
Publisher : Pusat Penelitian Informatika - LIPI

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (327.673 KB) | DOI: 10.14203/j.inkom.527

Abstract

Control position and reduction of swinging of the payload of a rigid gantry crane system is a challenging work because of under-actuated system. This paper addresses challenges by proposing the artificial bee colony (ABC) algorithm to optimize the gains of the PD controller to form what the so-called the artificial bee colony (ABC)-PD controller. The effectiveness of the proposed control algorithm is tested under constant step functions and compared with Ziegler-Nichols (ZN)-PD controller. The results show that the proposed controller produces slower rise time and peak time, but faster settling time than the ZN-PD controller as well as no overshoot under the predefined trajectories.   
Co-Authors Parman, Setyamartana Rahmayanti, Rifa Rizqi Andry Ardiansyah