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PSO-based optimization of state feedback tracking controller for a flexible link manipulator

Solihin, Mahmud Iwan and Wahyudi, Martono and Akmeliawati, Rini (2009) PSO-based optimization of state feedback tracking controller for a flexible link manipulator. In: 2009 International Conference of Soft Computing and Pattern Recognition, 4-7 December 2009, Universiti Teknikal Malaysia Melaka (UTeM), Malacca, Malaysia.

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Abstract

In this paper, state feedback control design for tracking control of a flexible link manipulator is considered. The computation of state feedback control gains is conventionally handled by pole placement method or LQR method via Riccati equation. Unfortunately, they still possess trial-and-error approach in choosing their parameters. Particularly, choosing elements of Q and R matrices in the state feedback control design using LQR method has to be done by trial. Therefore, an intelligent method to resolve this problem is proposed by adopting PSO-based optimization. Experimental work is carried out to evaluate effectiveness of the proposed method.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 4116/5289
Uncontrolled Keywords: state feedback control, flexible link, LQR, PSO, optimization
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 02 Nov 2011 15:53
Last Modified: 22 Nov 2011 11:22
URI: http://irep.iium.edu.my/id/eprint/5289

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