Analysis of Optimal Motion Performance for Underactuated Gantry Crane System using MOPSO with Linear Weight Summation Approach

H. I. Jaafar, S. Y. S. Hussien, R. Ghazali, Z. Mohamed, J. J. Jamian, M. S. M. Aras, M. N. M. Nasir, M. F. Sulaiman


This paper present the development of Multi-Objective Particle Swarm Optimization (MOPSO) with Linear Weight Summation (LWS) approach to enhance the effectiveness and efficiency of Gantry Crane System (GCS). The purpose of using LWS is to control the desired trolley position and payload oscillation according to the Settling Time (Ts), Steady State Error (SSE) and Overshoot (OS). The effectiveness of variation in weight summation is observed to find the optimal motion performances of the system. It demonstrated that GCS is able to achieve the goals while able to move the trolley as fast as possible to the desired position with low payload oscillation. Through this approach, the best optimal motion performances can be achieved by setting similar value of weightage for OS and Ts and reduce the priority for SSE.

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ISSN : 2180-3811       E-ISSN : 2289-814X

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