Genetic robustification of digital trajectory-tracking controllers for robotic manipulators

Author

Porter, B. ; Allaoui, C.

Author_Institution

Div. of Intelligent Machinery, Salford Univ., UK

Volume

5

fYear

1995

fDate

22-25 Oct 1995

Firstpage

4422

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICSMC.1995.538490

Filename

538490