Vibration reduction by predictive evolutionary trajectory shaping

Author

Fravolini, Mario Luca ; Ficola, Antonio ; La Cava, Michele

Author_Institution

Perugia Univ., Italy

Volume

5

fYear

1999

fDate

1999

Firstpage

5289

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.833395

Filename

833395