Self-Tuning PD Sway Control of a Lifted Load for a Crane

PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. In this paper, a new self-tuning PD controller design scheme is proposed. The PD parameters are adaptively calculated on-line based on the relationship between the PD control law and pole-assignment control law. The proposed scheme is experimentally evaluated on sway control system of a lifted load for a crane. Experimental results illustrate the effectiveness of the new schemes.