PSO-based optimization of state feedback tracking controller for a flexible link manipulator
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-e...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5289/ http://irep.iium.edu.my/5289/1/socpar2009.pdf |
| _version_ | 1848776474526482432 |
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| author | Solihin, Mahmud Iwan Wahyudi, Martono Akmeliawati, Rini |
| author_facet | Solihin, Mahmud Iwan Wahyudi, Martono Akmeliawati, Rini |
| author_sort | Solihin, Mahmud Iwan |
| building | IIUM Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T14:30:40Z |
| format | Proceeding Paper |
| id | iium-5289 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:30:40Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-52892011-11-22T03:22:09Z http://irep.iium.edu.my/5289/ PSO-based optimization of state feedback tracking controller for a flexible link manipulator Solihin, Mahmud Iwan Wahyudi, Martono Akmeliawati, Rini TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering 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. 2009 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/5289/1/socpar2009.pdf Solihin, Mahmud Iwan and Wahyudi, Martono and Akmeliawati, Rini (2009) PSO-based optimization of state feedback tracking controller for a flexible link manipulator. In: 2009 International Conference of Soft Computing and Pattern Recognition, 4-7 December 2009, Universiti Teknikal Malaysia Melaka (UTeM), Malacca, Malaysia. http://dx.doi.org/10.1109/SoCPaR.2009.26 doi:10.1109/SoCPaR.2009.26 |
| spellingShingle | TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering Solihin, Mahmud Iwan Wahyudi, Martono Akmeliawati, Rini PSO-based optimization of state feedback tracking controller for a flexible link manipulator |
| title | PSO-based optimization of state feedback tracking controller for a flexible link manipulator |
| title_full | PSO-based optimization of state feedback tracking controller for a flexible link manipulator |
| title_fullStr | PSO-based optimization of state feedback tracking controller for a flexible link manipulator |
| title_full_unstemmed | PSO-based optimization of state feedback tracking controller for a flexible link manipulator |
| title_short | PSO-based optimization of state feedback tracking controller for a flexible link manipulator |
| title_sort | pso-based optimization of state feedback tracking controller for a flexible link manipulator |
| topic | TJ212 Control engineering TK Electrical engineering. Electronics Nuclear engineering |
| url | http://irep.iium.edu.my/5289/ http://irep.iium.edu.my/5289/ http://irep.iium.edu.my/5289/ http://irep.iium.edu.my/5289/1/socpar2009.pdf |