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

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...

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Main Authors: Solihin, Mahmud Iwan, Martono, Wahyudi, Legowo, Ari, Akmeliawati, Rini
Format: Conference or Workshop Item
Language:English
Published: 2010
Subjects:
TJ212 Control engineering
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
id iium-5360
recordtype eprints
spelling iium-53602012-05-08T02:06:24Z http://irep.iium.edu.my/5360/ Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton Solihin, Mahmud Iwan Martono, Wahyudi Legowo, Ari Akmeliawati, Rini TJ212 Control engineering 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. 2010 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/5360/1/icime2010_iwan.pdf 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. http://dx.doi.org/10.1109/ICIME.2010.5477850 doi:10.1109/ICIME.2010.5477850
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
spellingShingle TJ212 Control engineering
Solihin, Mahmud Iwan
Martono, Wahyudi
Legowo, Ari
Akmeliawati, Rini
Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton
description 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.
format Conference or Workshop Item
author Solihin, Mahmud Iwan
Martono, Wahyudi
Legowo, Ari
Akmeliawati, Rini
author_facet Solihin, Mahmud Iwan
Martono, Wahyudi
Legowo, Ari
Akmeliawati, Rini
author_sort Solihin, Mahmud Iwan
title Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton
title_short Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton
title_full Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton
title_fullStr Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton
title_full_unstemmed Comparison of LQR and PSO-based state feedback controller for tracking control of a flexible link manipulaton
title_sort comparison of lqr and pso-based state feedback controller for tracking control of a flexible link manipulaton
publishDate 2010
url 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
first_indexed 2023-09-18T20:13:54Z
last_indexed 2023-09-18T20:13:54Z
_version_ 1777407659351212032

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