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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator

Subudhi B., Ranasingh S., Swain A. K.

Archives of Control Sciences

2011

Vol. 21, no. 3

269-285

Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.