Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton

Solihin, Mahmud Iwan and Martono, Wahyudi and Legowo, Ari and Akmeliawati, Rini (2010) Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton. In: 2010 2nd IEEE International Conference on Information Management and Engineering (ICIME), 16 - 18 Apr 2010, Chengdu, China.

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Abstract

In this paper, the state feedback control design problem for tracking control of a flexible link manipulator is considered. The calculation 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 of choosing some parameters. Particularly, choosing elements of Q and R matrices in the state feedback control using LQR method has to be done by trial. Therefore, an intelligent method to resolve this problem is proposed by adopting PSO algorithm. The experimental work is carried out to evaluate the effectiveness of the proposed method.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5334/5360
Uncontrolled Keywords:	state feedback control, flexible link, LQR, PSO, optimization
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control 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 Nov 2011 23:58
Last Modified:	08 May 2012 10:06
URI:	http://irep.iium.edu.my/id/eprint/5360

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