Particle swarm optimization for gantry control: a teaching experiment

Authors:
Paulo B. de Moura Oliveira;Eduardo J. Solteiro Pires;José Boaventura Cunha
Affiliations:
CIDESD, Departamento de Engenharias, Universidade de Trás-os-Montes e Alto Douro, Portugal;CITAB, Departamento de Engenharias, Universidade de Trás-os-Montes e Alto Douro, Portugal;CIDESD, Departamento de Engenharias, Universidade de Trás-os-Montes e Alto Douro, Portugal
Venue:
EPIA'11 Proceedings of the 15th Portugese conference on Progress in artificial intelligence
Year:
2011

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Abstract

The particle swarm optimization algorithm is proposed as a tool to solve the Posicast input command shaping problem. The design technique is addressed, in the context of a simulation teaching experiment, aiming to illustrate second-order system feedforward control. The selected experiment is the well known suspended load or gantry problem, relevant to the crane control. Preliminary simulation results for a quarter-cycle Posicast shaper, designed with the particle swarm algorithm are presented. Illustrating figures extracted from an animation of a gantry example which validate the Posicast design are presented.