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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, Parnichkunb, Manukid and Le, Chi (2010) Structure-specified H∞ loop shaping control for balancing of bicycle robots: A particle swarm optimization approach. In: Innovative Production Machines and Systems: Fifth I*PROMS Virtual International Conference. Whittles Publishing. ISSN 9781849950060

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Abstract

In this paper, the particle swarm optimization (PSO) algorithm was used to design the structure-specified H∞ loop shaping controllers for balancing of bicycle robots. The structure-specified H∞ loop shaping controller design normally leads to a complex optimization problem. PSO is an efficient meta-heuristic search which is used to solve multi-objectives and non-convex optimizations. A model-based systematic procedure for designing the particle swarm optimization-based structure-specified H∞ loop shaping controllers was proposed in this research. The structure of the obtained controllers are therefore simpler. The simulation and experimental results showed that the robustness and efficiency of the proposed controllers was gained when compared with the proportional plus derivative (PD) as well as conventional H∞ loop shaping controller. The simulation results also showed a better efficiency of the developed control algorithm compared to the Genetic Algorithm based one.

Item Type: Conference Proceedings
Title of Proceedings: Innovative Production Machines and Systems: Fifth I*PROMS Virtual International Conference
Additional Information: Fifth I*PROMS Virtual International Conference, 6-17 July, 2009
Uncontrolled Keywords: Bicycle robot; Structure-specified controller; H∞ loop shaping control; Particle swarm optimization; Gyroscopic stabilizer.
Pre-2014 Departments: School of Engineering
Last Modified: 14 Oct 2016 09:28
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
URI: http://gala.gre.ac.uk/id/eprint/11744

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