GA-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings

This paper presents a practical genetic algorithm (GA)-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings. In the system design for the proposed GA-based tuning, guidelines of the fitness evaluation are set as the response bandwidth of the control system and the gain characteristics of load position for angular transmission error (ATEs) of the strain wave gearing. The proposed function autonomously tunes parameters of a positioning controller by GA, where mechanical vibrations due to the ATEs can be suppressed using resonant and all-pass filters. Effectiveness of the proposed approach has been verified using a prototype.