Title: Robust feedback control design using PSO-based optimisation: a case study in gantry crane control

Authors: Mahmud Iwan Solihin, Rini Akmeliawati, Ari Legowo

Addresses: School of Engineering, UCSI University, Cheras, 56000, Kuala Lumpur, Malaysia; Intelligent Mechatronics Systems Recearch Unit, Faculty of Engineering, IIUM, P.O. Box 10, 50728, Kuala Lumpur, Malaysia. ' Department of Mechatronics, IIUM, P.O. Box 10, 50728, Kuala Lumpur, Malaysia. ' Intelligent Mechatronics Systems Recearch Unit, Faculty of Engineering, IIUM, P.O. Box 10, 50728, Kuala Lumpur, Malaysia

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.

Keywords: robust control; feedback control; particle swarm optimisation; PSO; constrained optimisation; stability radius; anti-swing gantry cranes; crane control; control design; closed loop poles; wedge regions.

DOI: 10.1504/IJMA.2011.040042

International Journal of Mechatronics and Automation, 2011 Vol.1 No.2, pp.121 - 131

Available online: 12 May 2011 *

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