Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane
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. Perfo...
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| Format: | Book Chapter |
| Language: | English English |
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Springer Singapore
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/21695/ http://umpir.ump.edu.my/id/eprint/21695/1/book31%20Data-driven%20PID%20tuning%20based%20on%20safe%20experimentation%20dynamics%20for%20control%20of%20double-pendulum-type%20overhead%20crane.pdf http://umpir.ump.edu.my/id/eprint/21695/2/book31.1%20Data-driven%20PID%20tuning%20based%20on%20safe%20experimentation%20dynamics%20for%20control%20of%20double-pendulum-type%20overhead%20crane.pdf |
| _version_ | 1848821408491110400 |
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| author | Nor Sakinah, Abdul Shukor Mohd Ashraf, Ahmad |
| author_facet | Nor Sakinah, Abdul Shukor Mohd Ashraf, Ahmad |
| author_sort | Nor Sakinah, Abdul Shukor |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-15T02:24:52Z |
| format | Book Chapter |
| id | ump-21695 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T02:24:52Z |
| publishDate | 2018 |
| publisher | Springer Singapore |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-216952018-08-06T07:50:39Z http://umpir.ump.edu.my/id/eprint/21695/ Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane Nor Sakinah, Abdul Shukor Mohd Ashraf, Ahmad TK Electrical engineering. Electronics Nuclear engineering 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. Springer Singapore 2018-04-28 Book Chapter PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21695/1/book31%20Data-driven%20PID%20tuning%20based%20on%20safe%20experimentation%20dynamics%20for%20control%20of%20double-pendulum-type%20overhead%20crane.pdf pdf en http://umpir.ump.edu.my/id/eprint/21695/2/book31.1%20Data-driven%20PID%20tuning%20based%20on%20safe%20experimentation%20dynamics%20for%20control%20of%20double-pendulum-type%20overhead%20crane.pdf 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 https://doi.org/10.1007/978-981-10-8788-2_27 DOI: 10.1007/978-981-10-8788-2_27 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nor Sakinah, Abdul Shukor Mohd Ashraf, Ahmad Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane |
| title | Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane |
| title_full | Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane |
| title_fullStr | Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane |
| title_full_unstemmed | Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane |
| title_short | Data-driven PID tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane |
| title_sort | data-driven pid tuning based on safe experimentation dynamics for control of double-pendulum-type overhead crane |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/21695/ http://umpir.ump.edu.my/id/eprint/21695/ http://umpir.ump.edu.my/id/eprint/21695/ http://umpir.ump.edu.my/id/eprint/21695/1/book31%20Data-driven%20PID%20tuning%20based%20on%20safe%20experimentation%20dynamics%20for%20control%20of%20double-pendulum-type%20overhead%20crane.pdf http://umpir.ump.edu.my/id/eprint/21695/2/book31.1%20Data-driven%20PID%20tuning%20based%20on%20safe%20experimentation%20dynamics%20for%20control%20of%20double-pendulum-type%20overhead%20crane.pdf |