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

• 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/5289/1/socpar2009.pdf; http://irep.iium.edu.my/5289/; http://dx.doi.org/10.1109/SoCPaR.2009.26

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.