Output Feedback Direct Adaptive Control for a Two-Link Flexible Robot Subject to Parameter Changes

Özçelik, Selahattin; Miranda, Elroy

doi:10.5772/6502

Cited by 2 publications

(1 citation statement)

References 15 publications

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“…Control algorithms will be required to compensate for both the vibrations and static deflections that result from the flexibility. This provides a challenge to design control techniques that gives precise control of desired parameters of the system in desired time, ability to cope up with sudden changes in the bounded system parameters, and robust performance [1].…”

Section: Introductionmentioning

confidence: 99%

Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator

Subudhi¹,

Ranasingh²,

Swain³

2011

Archives of Control Sciences

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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.

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Section: Introductionmentioning

confidence: 99%