Iterative Feedback Tuning Algorithm for Tower Crane Systems

Abstract

This paper proposes validates an Iterative Feedback Tuning (IFT) algorithm, which is a classical and also popular data-driven algorithm, on tower crane systems. The IFT algorithm is applied to improve the performances of three proportional-integral (PI) controllers by solving an optimization problem. The IFT algorithm is validated using experiments to control the cart position, the arm angular position and the payload position. The experiments are conducted on a tower crane system in authors’ laboratory, and the experimental setup is laboratory equipment that has strong nonlinearities. Ten iterations are performed to highlight the control system performance using IFT controllers.