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

Volume

43

Issue

5

fYear

1996

fDate

10/1/1996 12:00:00 AM

Firstpage

567

Lastpage

574

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;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.538614

Filename

538614