DocumentCode
724067
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
fYear
2015
fDate
23-25 May 2015
Firstpage
1546
Lastpage
1551
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location
Qingdao
Print_ISBN
978-1-4799-7016-2
Type
conf
DOI
10.1109/CCDC.2015.7162165
Filename
7162165
Link To Document