2 research outputs found
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-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