Title :
Vibration reduction by predictive evolutionary trajectory shaping
Author :
Fravolini, Mario Luca ; Ficola, Antonio ; La Cava, Michele
Author_Institution :
Perugia Univ., Italy
Abstract :
A method for reducing the tracking error due to motion induced vibrations for flexible robots is presented. In order to improve the performances of a feedback controller, the shaping of the reference trajectory is carried out by means of a predictive control scheme, where the online optimization is executed by an evolutionary algorithm. The addition of the feedback estimation error improves the reliability of the prediction, ensuring an adequate robustness despite of uncertainties. The method has been successfully applied by simulation to the tracking error reduction of a flexible link; the computation complexity revealed by simulations allows easy real time implementation
Keywords :
computational complexity; evolutionary computation; feedback; flexible manipulators; predictive control; robust control; vibration control; computation complexity; evolutionary algorithm; feedback controller performance; feedback estimation error; flexible link; flexible robots; motion induced vibrations; online optimization; predictive control scheme; predictive evolutionary trajectory shaping; reference trajectory; robustness; tracking error reduction; vibration reduction; Adaptive control; Computational modeling; Estimation error; Evolutionary computation; Feedback; Predictive control; Robots; Robustness; Tracking; Trajectory;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.833395
