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Structure-specified H loop shaping control for balancing of bicycle robots: A particle swarm optimization approach

Structure-specified H loop shaping control for balancing of bicycle robots: A particle swarm optimization approach

Bui, Trung Thanh, Parnichkun, M and Le, Chi (2010) Structure-specified H loop shaping control for balancing of bicycle robots: A particle swarm optimization approach. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 224 (7). pp. 857-867. ISSN 0959-6518 (Print), 2041-3041 (Online) (doi:10.1243/09596518JSCE950)

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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.

Item Type: Article
Uncontrolled Keywords: Bicycle robot, Structure-specified controller, H loop shaping control, Particle swarm optimization, Gyroscopic stabilizer
Pre-2014 Departments: School of Engineering > Department of Engineering Systems
Last Modified: 19 Oct 2016 13:26
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
URI: http://gala.gre.ac.uk/id/eprint/11731

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