Robust Structure-Control Design Approach for Mechatronic Systems

Abstract

In this paper, a robust formulation for the structurecontrol design of mechatronic systems is developed. The proposed robust approach aims at minimization of the sensitivity of the nominal design objectives with respect to uncertain parameters. The robust integrated design problem is established as a nonlinear multiobjective dynamic optimization one, which in order to consider synergetic interactions uses mechanical and control nominal design objectives. A planar parallel robot and its controller are simultaneously designed with the proposed approach when the nominal design objectives are the tracking error and the manipulability measure. The payload at the end-effector is considered as the uncertain parameter. Experimental results show that a robustly designed parallel robot presents lower sensitivity of the nominal design objectives under the effects of changes at the payload than a nonrobustly designed one.Index Terms-Differential evolution algorithm, mechatronic design, robust structure-control design.

Differential Evolution for the Control Gain's Optimal Tuning of a Four-bar Mechanism

“…Hence, the coupled dynamics of the DC motor with the FBM-SDF is given by combining (36), (37) and (19). Let the state variable vector…”

“…In the last decades, the use of heuristic techniques have been used in engineering problems [16], [17]- [19]. This is due to the increment of the technological advances and because problems are non-convex, discontinuous and/or present discrete variables that make it difficult (or imposible) to solve them by traditional optimization techniques such as nonlinear programming techniques.…”

Robust balancing control of flexible inverted-pendulum systems

“…Finally, research on design, modelling and control of flexible mechanisms has typically proceeded in parallel and with limited interactions between the different disciplines. Nevertheless, a concurrent design and control approach, which was proved effective for rigid systems [29], has been indicated as a promising avenue for flexible mechanisms [30].…”

Relationship between coupling and the controllability Grammian in co-design problems

“…Some applications are structures with active control [1][2][3], mechatronics [4][5][6][7], mechanisms [8][9][10][11][12][13], microelectrical mechanical systems (MEMS) [14][15][16], and chemical processing applications [17,18]. These applications include important systems such as robotics [19], aeronautical structures, machine tools, sensors and automotive applications [20,21].…”