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FME Transactions 2013, vol. 41, iss. 4, pp. 265270

article language: English
document type: unclassified

Nonlinear control technique of a pendulum via cable length manipulation: Application of particle swarm optimization to controller design
Asahikawa National College of Technology, Department of Systems, Control and Information Engineering, Asahikawa, Japan
email: abe@asahikawanct.ac.jp
AbstractThis paper presents a novel vibration control technique for a pendulum via cable length manipulation. To control the sway angle by using the reeling and unreeling of the hositing cable, we develop a nonlinear feedback control scheme by utilising parametric resonance, in which the control input is defined as the acceleration of the cable. Because the governing equation and the control law are nonlinear, it is very difficult to analytically solve the feedback gains for the stabilization of the system. Hence, the feedback gains are determined by the use of particle swarm optimization (PSO), which is an evolutionary computation technique, to reduce the sway angle to the maximum extent possible. The validity of the proposed control technique is confirmed by numerical simulations. To verify the feasibility of the present approach, experiments are also performed. From the experimental results, we demonstrate that the application of the PSO algorithm for tuning the feedback gains is valid and that the proposed nonlinear feedback control scheme is effective for the vibration control of a pendulum with variable length.
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