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...
| Main Authors: | , , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2010
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5360/ http://irep.iium.edu.my/5360/1/icime2010_iwan.pdf |
| _version_ | 1848776486860881920 |
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| 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 |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T14:30:52Z |
| format | Proceeding Paper |
| id | iium-5360 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:30:52Z |
| publishDate | 2010 |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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 Proceeding Paper 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 |
| 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 |
| title | 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_short | 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 |
| topic | TJ212 Control engineering |
| 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 |