Robust feedback control design using PSO-based optimisation: a case study in gantry crane control
by Mahmud Iwan Solihin, Rini Akmeliawati, Ari Legowo
International Journal of Mechatronics and Automation (IJMA), Vol. 1, No. 2, 2011

Abstract: In this paper, a robust state feedback control design using particle swarm optimisation-based constrained optimisation is proposed. 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.

Online publication date: Thu, 26-Mar-2015

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