Performance comparison of position and swing angle control system on a gantry crane.

A gantry crane is a device used for transporting heavy loads in many industrial areas. The device has a crucial challenge in the positioning of the trolley that can reduce work efficiency and cause work accidents. Many studies have proposed to solve that problem using Linear Quadratic Regulation (LQR), Proportional Integral Derivative (PID), and Particle Swarm Optimization (PSO) control methods due to their simplicity and robustness. However, these three methods are required further research to find the performance comparison. This study aims to compare the performance and robustness of LQR, PID-Manual and PID-PSO. This research was conducted by simulating the dynamic model of a gantry crane using MATLAB software. A dynamic model of the 2-D gantry crane prototype is derived using Newton's 2nd Law and the simulation results show that the LQR is better than the PID-Manual and PID-PSO in all performance but with a specific flaw in the rise time value. The LQR controller is also able to maintain the performance of the gantry crane for various conditions, i.e. load mass and cable length variations. [ABSTRACT FROM AUTHOR]