Title :
Sliding mode generalized impedance control design for manipulator robots based on genetic algorithm
Author :
Bouabaz, Khalid ; Qidan Zhu
Author_Institution :
Harbin Eng. Univ., Harbin, China
Abstract :
In this work, the sliding mode generalized impedance controller (SMGIC) design and tuning problem is addressed. The SMGIC design and issues related to controller parameters choice are discussed. The genetic algorithm is used to determine the optimal parameter of the SMGIC under torque constraints in order to reach a satisfactory performances trade-off. The optimization process as well as the optimized SMGIC is simulated on a three degree of freedom robot. The results show the superiority of the optimized controller over simple parameter tuning, especially in term of response time and error reduction.
Keywords :
control system synthesis; genetic algorithms; manipulators; variable structure systems; SMGIC design; SMGIC tuning problem; genetic algorithm; manipulator robots; sliding mode generalized impedance control design; three degree of freedom robot; torque constraints; controller tuning; genetic algorithm; impedance control; sliding mode control;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162165
