Mahmud I. Solihin, Rini Akmeliawati, Ismaila B. Tijani, and Ari Legowo
Robust state feedback controller, particle swarm optimization, constrained optimization, stability radius, anti-swing, gantry crane
Computational intelligence has been successfully applied to many engineering applications including control engineering problems. In this paper, a robust state feedback control design using particle swarm optimizer based constrained optimization is proposed. The feedback controller is optimized 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 the desired closed-loop poles, which correspond to time-domain control system performance. The proposed controller design is applied to anti-swing control for a gantry crane system. The experimental result is shown, and comparison with that of conventional linear quadratic regulator based controller and H∞ loop shaping controller are made. The proposed method achieves a satisfactory robust performance based on the structured singular value analysis and the experimental results.
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