Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton
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...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5360/ http://irep.iium.edu.my/5360/ http://irep.iium.edu.my/5360/ http://irep.iium.edu.my/5360/1/icime2010_iwan.pdf |
| Summary: | 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. |
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