Robust feedback control design using PSO-based optimisation: a case study in gantry crane control

• Main Authors: Solihin, Mahmud Iwan, Akmeliawati, Rini, Legowo, Ari
• Format: Article
• Language: English
• Published: Inderscience 2011
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• 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

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.