Structure-Specified H∞ Loop Shaping Control for Balancing of Bicycle Robots: A Particle Swarm Optimization Approach-Reference-Cited by-同舟云学术

Structure-Specified H∞ Loop Shaping Control for Balancing of Bicycle Robots: A Particle Swarm Optimization Approach

Published:2010-02-23 Issue:7 Volume:224 Page:857-867
ISSN:0959-6518
Container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Author:

Bui T T¹,Parnichkun M²,Le C H³

Affiliation:

1. Faculty of Electronic and Electrical Engineering, Hung Yen University of Technology and Education, Hung Yen, Vietnam

2. School of Engineering and Technology, Asian Institute of Technology, Pathum Thani, Thailand

3. Manufacturing Engineering Centre, Cardiff University, Cardiff, UK

Abstract

The Particle swarm optimization (PSO) approach is an efficient meta-heuristic search method that can be used to solve the multi-objective and non-convex optimization problems that are normally generated when designing structure-specified H∞ loop shaping controllers. In this study, PSO is used to design the controllers able to balance a bicycle robot, with a model-based systematic procedure for the controller design being proposed. Simulation and experimental results are presented that show that superior robustness and efficiency properties were obtained using the structure-specified H∞ loop shaping controllers compared to those obtained using the proportional plus derivative as well as conventional H∞ loop shaping ones. In comparison with the solutions obtained based on genetic algorithms, the use of PSO has a better efficiency in term of the computational time.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1243/09596518JSCE950

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