Title :
Genetic robustification of digital trajectory-tracking controllers for robotic manipulators
Author :
Porter, B. ; Allaoui, C.
Author_Institution :
Div. of Intelligent Machinery, Salford Univ., UK
Abstract :
In this paper, genetic algorithms are used to robustify digital multivariable PID controllers for robotic manipulators. This process of robustification is effected by using genetic algorithms to determine the optimal set of controller tuning parameters for typical trajectory-tracking tasks. This use of genetic algorithms is illustrated by the design of a digital trajectory-tracking controller for a typical three-degree-of-freedom robotic manipulator
Keywords :
control system synthesis; digital control; genetic algorithms; manipulators; multivariable control systems; optimal control; robust control; 3-DOF robotic manipulator; digital multivariable PID controllers; digital trajectory-tracking controllers; genetic algorithms; optimal controller tuning parameters; robustification; trajectory-tracking tasks; Algorithm design and analysis; Digital control; Equations; Error correction; Genetic algorithms; Intelligent robots; Manipulators; Robot control; Robust control; Three-term control;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538490
