Title :
Genetic algorithm tuning of Lyapunov-based controllers: an application to a single-link flexible robot system
Author :
Ge, S.S. ; Lee, T.H. ; Zhu, G.
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore
fDate :
10/1/1996 12:00:00 AM
Abstract :
In this paper, a systematic controller design approach is proposed to guarantee both closed-loop stability and desired performance of the overall system by effectively combining genetic algorithms (GAs) with Lyapunov´s direct-controller design method. The effectiveness of the approach is shown by using a simple and efficient decimal GA optimization procedure to tune and optimize the performance of a Lyapunov-based robust controller for a single-link flexible robot. The feedback gains of the controller are tuned by the GA optimization process to achieve good results for tip motion control of the single-link flexible robot based on some suitable fitness functions. The paper includes results of simulation experiments demonstrating the effectiveness of the proposed genetic algorithm approach
Keywords :
Lyapunov methods; closed loop systems; control system synthesis; flexible structures; genetic algorithms; motion control; optimal control; robots; robust control; Lyapunov-based controllers; closed-loop stability; control design; control simulation; feedback gains; fitness functions; genetic algorithm tuning; performance; single-link flexible robot system; systematic controller design approach; tip motion control; Algorithm design and analysis; Automatic control; Control systems; Genetic algorithms; Motion control; Optimization methods; Robots; Robust control; Robust stability; Tuning;
Journal_Title :
Industrial Electronics, IEEE Transactions on
