دورية أكاديمية
Balancing Control of Bicyrobo by Particle Swarm Optimization-Based Structure-Specified Mixed H2/H∞ Control
| العنوان: | Balancing Control of Bicyrobo by Particle Swarm Optimization-Based Structure-Specified Mixed H2/H∞ Control |
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| المؤلفون: | Bui Trung Thanh, Manukid Parnichkun |
| المصدر: | International Journal of Advanced Robotic Systems, Vol 5 (2008) |
| بيانات النشر: | SAGE Publishing, 2008. |
| سنة النشر: | 2008 |
| المجموعة: | LCC:Electronics LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | In this paper, a structure-specified mixed H 2 /H ∞ controller design using particle swarm optimization (PSO) is proposed for control balancing of Bicyrobo, which is an unstable system associated with many sources of uncertainties due to un-model dynamics, parameter variations, and external disturbances. The structure-specified mixed H 2 /H ∞ control is a robust and optimal control technique. However, the design process normally comes up with a complex and non-convex optimization problem which is difficult to solve by the conventional optimization methods. PSO is a recently useful meta-heuristic search method used to solve multi-objective and non-convex optimization problems. In the method, PSO is used to search for parameters of a structure-specified controller which satisfies mixed H 2 /H ∞ performance index. The simulation and experimental results show the robustness of the proposed controller in compared with the conventional proportional plus derivative (PD) controller, and the efficiency of the proposed algorithm in compared with the genetic algorithm (GA). |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1729-8814 96416033 |
| Relation: | https://doaj.org/toc/1729-8814 |
| DOI: | 10.5772/6235 |
| URL الوصول: | https://doaj.org/article/96416033b30b42fc87a5786a8a4644ad |
| رقم الأكسشن: | edsdoj.96416033b30b42fc87a5786a8a4644ad |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 17298814 96416033 |
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| DOI: | 10.5772/6235 |