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Robust feedback control design using PSO-based optimisation: a case study in gantry crane control

Solihin, Mahmud Iwan and Akmeliawati, Rini and Legowo, Ari (2011) Robust feedback control design using PSO-based optimisation: a case study in gantry crane control. International Journal of Mechatronics and Automation, 1 (2). p. 121. ISSN 2045-1059

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In this paper, a robust state feedback control design using particle swarm optimisation-based constrained optimisation The feedback controller is designed based on state space model of the plant with structured uncertainty such that the closed-loop system would have maximum stability radius. A wedge region is assigned as a constraint to locate desired closed loop poles. The proposed method is applied into design of anti-swing control of an automatic gantry crane experiment. A comparison with that of LQR-based controller is made. The result shows that the proposed method effectively locates the closed loop poles within the prescribed wedge region and its robust performance is guaranteed.

Item Type: Article (Journal)
Additional Information: 5806/4151
Uncontrolled Keywords: robust control; feedback control; particle swarm optimisation; PSO; constrained optimisation; stability radius; anti-swing gantry cranes; crane control; control design; closed loop poles; wedge regions
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 12 Oct 2011 15:42
Last Modified: 29 Mar 2012 07:46
URI: http://irep.iium.edu.my/id/eprint/4151

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