GA-based autonomous design of robust fast and precise positioning considering machine stand vibration suppression

This paper presents a novel genetic algorithm (GA)-based autonomous compensator design and position command shaping considering the stand vibration suppression for the fast and precise positioning of mechatronic systems. The positioning system is mainly composed of a robust 2-degrees-of-freedom (2DOF) controller based on the coprime factorization description. The feedback compensator based on H/sub /spl infin//, design framework in the 2DOF controller ensures the robustness against the variations of resonant vibration mode. The feedforward compensator and position command, on the other hand, can be autonomously designed by the optimization capability of GA, in order to achieve the desired positioning performance and to suppress the machine stand vibration. The effectiveness of the proposed optimal design has been verified by experiments using a table drive system with ball screw.