Genetic algorithm tuning of Lyapunov-based controllers: anapplication to a single-link flexible robot system |
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Authors: | Ge SS Lee TH Zhu G |
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Affiliation: | Dept. of Electr. Eng., Nat. Univ. of Singapore ; |
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Abstract: | In this paper, a systematic controller design approach is proposed to guarantee both closed-loop stability and desired performance of the overall system by effectively combining genetic algorithms (GAs) with Lyapunov's direct-controller design method. The effectiveness of the approach is shown by using a simple and efficient decimal GA optimization procedure to tune and optimize the performance of a Lyapunov-based robust controller for a single-link flexible robot. The feedback gains of the controller are tuned by the GA optimization process to achieve good results for tip motion control of the single-link flexible robot based on some suitable fitness functions. The paper includes results of simulation experiments demonstrating the effectiveness of the proposed genetic algorithm approach |
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