Robust feedback control design using PSO-based optimisation: a case study in gantry crane control
In this paper, a robust state feedback control design using particle swarm optimisation-based constrained optimisation The feedback controller is designed based on state space model of the plant with structured uncertainty such that the closed-loop system would have maximum stability radius. A wedg...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Inderscience
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/4151/1/Robust_feedback_control_design_using_PSO-based.pdf http://irep.iium.edu.my/4151/ http://dx.doi.org/10.1504/IJMA.2011.040042 |
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| Summary: | In this paper, a robust state feedback control design using particle swarm optimisation-based constrained optimisation The feedback controller is designed based on state space model of the plant with structured uncertainty such that the closed-loop system would have maximum stability radius. A wedge region is assigned as a constraint to locate desired closed loop poles. The proposed method is applied into design of anti-swing control of an automatic gantry crane experiment. A comparison with that of LQR-based controller is made. The result shows that the proposed method effectively locates the closed loop poles within the prescribed wedge region and its robust performance is guaranteed. |
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