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Karya tulis ini membahas tentang algoritma particle swarm optim i z a tion (PSO) untuk mengoptimalkan penguat pengendali PD yang dinamakan pengendali PSO-PD. Efektivitas algoritma pengendali yang diusulkan diuji dengan menggunakan fungsi step dan dibandingkan dengan pengendali PD berbasis Zigler - Nichols (ZN-PD ) . Hasil simulasi yang didapatkan menunjukkan bahwa pengendali PSO-PD menghasilkan waktu naik dan waktu puncak yang lebih lambat dibandingkan dengan pengendali ZN-PD, tetapi memiliki waktu tunak yang lebih cepat dan nilai overshoo t yang kecil di bawah trayektori yang didefinisikan. Kata kunci : Sistem gantry crane , PSO, Gain PD , Sudut ayunan A bstract This paper presents the particle swarm optimization (PSO) algorithm to optimize the gains of the PD controller to form what so-called the particle swarm optimization (PSO-PD) controller. The effectiveness of the proposed control algorithm is tested under constant step function and compared with Ziegler-Nichols (ZN-PD) controller. Simulation results show that proposed controller has slower rise time and peak time than ZN-PD controller as well as small overshoot under the predefined trajectories.

PERFORMANCE ANALYSIS OF PSO-PD CONTROLLER IN CONTROLING THE RIGID GANTRY CRANE SYSTEM