Backstepping Control for a Single-Link Flexible-Joint Manipulator Using Firefly Algorithm

Nowadays Flexible manipulators are extensively used in industries. In this paper, backstepping method (BM) is proposed for a single-link flexible mechanical manipulator. BM consists of parameters which accept positive values. Selections of the parameters are very important because the improper selection of the parameters lead to inappropriate responses or even may lead to instability of the system. In order to choose proper values firefly algorithms (FA) has been used in this work. FA can select appropriate and optimal values for the parameters. FA minimize the fitness function, so the optimal values for the parameters will be founded. Selected fitness function is defined to minimizing the least square error. Fitness function enforce the system error to decay to zero rapidly. Hence it causes the system to have a short and optimal setting time. Fitness function also makes an optimal controller and causes overshoot to reach to it’s minimum value.