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

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...

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Main Authors: Solihin, Mahmud Iwan, Wahyudi, Martono, Akmeliawati, Rini
Format: Conference or Workshop Item
Language:English
Published: 2009
Subjects:
TJ212 Control engineering
TK Electrical engineering. Electronics Nuclear engineering
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
id iium-5289
recordtype eprints
spelling iium-52892011-11-22T03:22:09Z http://irep.iium.edu.my/5289/ PSO-based optimization of state feedback tracking controller for a flexible link manipulator Solihin, Mahmud Iwan Wahyudi, Martono Akmeliawati, Rini TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering 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. 2009 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/5289/1/socpar2009.pdf 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. http://dx.doi.org/10.1109/SoCPaR.2009.26 doi:10.1109/SoCPaR.2009.26
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TJ212 Control engineering
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TJ212 Control engineering
TK Electrical engineering. Electronics Nuclear engineering
Solihin, Mahmud Iwan
Wahyudi, Martono
Akmeliawati, Rini
PSO-based optimization of state feedback tracking controller for a flexible link manipulator
description 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.
format Conference or Workshop Item
author Solihin, Mahmud Iwan
Wahyudi, Martono
Akmeliawati, Rini
author_facet Solihin, Mahmud Iwan
Wahyudi, Martono
Akmeliawati, Rini
author_sort Solihin, Mahmud Iwan
title PSO-based optimization of state feedback tracking controller for a flexible link manipulator
title_short PSO-based optimization of state feedback tracking controller for a flexible link manipulator
title_full PSO-based optimization of state feedback tracking controller for a flexible link manipulator
title_fullStr PSO-based optimization of state feedback tracking controller for a flexible link manipulator
title_full_unstemmed PSO-based optimization of state feedback tracking controller for a flexible link manipulator
title_sort pso-based optimization of state feedback tracking controller for a flexible link manipulator
publishDate 2009
url 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
first_indexed 2023-09-18T20:13:48Z
last_indexed 2023-09-18T20:13:48Z
_version_ 1777407653282054144

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