Vol. 23 No. 1 (2020) Cover Image
Vol. 23 No. 1 (2020)

Published: March 31, 2020

Pages: 45-50

Articles

LQR/Sliding Mode Controller Design Using Particle Swarm Optimization for Crane System

Hazem Ali 1 Azhar Jabbar Abdulridha 2 Rawaa Khaleel 1 Kareem A. Hussein 1
1 Control and Systems Engineering Dept., University of Technology Baghdad–Iraq.
2 Assistant Lecturer
History
  • Received: October 29, 2019
  • Revised: January 8, 2020
  • Accepted: January 29, 2020
  • Available Online: March 20, 2020
DOI

https://doi.org/10.29194/NJES.23010045

Abstract

In this work, the design procedure of a hybrid robust controller for crane system is presented. The proposed hybrid controller combines the linear quadratic regulator (LQR) properties with the sliding mode control (SMC) to obtain an optimal and robust LQR/SMC controller. The crane system which is represented by pendulum and cart is used to verify the effectiveness of the proposed controller. The crane system is considered one of the highly nonlinear and uncertain systems in addition to the under-actuating properties. The parameters of the proposed LQR/SMC are selected using Particle Swarm Optimization (PSO) method. The results show that the proposed LQR/SMC controller can achieve a better performance if only SMC controller is used. The robustness of the proposed controller is examined by considering a  variation in system parameters with applying an external disturbance input. Finally, the superiority of the proposed LQR/SMC controller over the SMC controller is shown in this work.

Keywords

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