Simultaneous optimization of a structure and control for mechanical systems using the Nash bargaining game

An integrated design method for a mechanical structure and controller using the Nash bargaining game is proposed. In this study, we describe how to apply the bargaining game model into the design of mechanical systems and show that optimized design parameters can be obtained from the strategy which maximizes the Nash product. The example application shown in this paper is the design of a single link flexible arm. In this sample design, the lowest natural frequency and the real part of the dominant pole of system with PD controller are considered as indices to optimize both the structure and controller. Results show that we can design a flexible arm with PD controller can be designed using this method