Active vibration suppression of flexible manipulators is important in many engineering applications, such as robot manipulators and high-speed flexible mechanisms. The demand for a short settling time and low energy consumption of vibration suppression requires consideration of optimal control. Under a wide range of operating conditions, however, the fixed optimal parameters determined for a control algorithm might not produce the best performance. Therefore, to enhance performance, this paper suggests a lookup table control method for a flexible manipulator. This method can tune itself to the optimal parameters on the basis of initial maximum responses to the controlled system. In this study, a multi-objective genetic algorithm is used to search for optimal parameters with regard to positive position feedback to the control algorithm. In turn, with the optimal parameters, the multi-objective functions of the settling time and energy consumption during the vibration control of a flexible manipulator can be minimized. The simulation and experimental results both indicate that the energy consumption can be reduced significantly if the settling time is slightly increased.
This paper describes the development of a small flying robot with semi-autopilot system, which was prepared to participate 3 rd European-US Micro Air Vehicle Competition. Since there was a limitation of size and available weight in a small air robot "KU-Hawk" with 50cm wing span, we decided to install a small lightweight semi-autopilot system. The semiauto system was consisted of an IR Gyro, a GPS module and a ground control system. The completed air robot was tested by performing real flight tests such as a level flight with an attitude control and a path flight with a way point tracking method.
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