PSO-based optimization of state feedback tracking controller for a flexible link manipulator
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-e...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5289/ http://irep.iium.edu.my/5289/ http://irep.iium.edu.my/5289/ http://irep.iium.edu.my/5289/1/socpar2009.pdf |
| Summary: | 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. |
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