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GECCO
2003
Springer

Control of a Flexible Manipulator Using a Sliding Mode Controller with Genetic Algorithm Tuned Manipulator Dimension

10 years 8 months ago
Control of a Flexible Manipulator Using a Sliding Mode Controller with Genetic Algorithm Tuned Manipulator Dimension
The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control effort is shared dynamically between the rigid mode tracking and vibration suppression. Performance and effectiveness of the proposed reduced dimension sliding mode controller in vibration suppression and against payload variations are demonstrated with simulations.
N. M. Kwok, Sam Kwong
Added 06 Jul 2010
Updated 06 Jul 2010
Type Conference
Year 2003
Where GECCO
Authors N. M. Kwok, Sam Kwong
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