Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/62256
Title: Genetic algorithm tuning of lyapunov-based controllers: An application to a single-link flexible robot system
Authors: Ge, S.S. 
Lee, T.H. 
Zhu, G.
Issue Date: 1996
Citation: Ge, S.S., Lee, T.H., Zhu, G. (1996). Genetic algorithm tuning of lyapunov-based controllers: An application to a single-link flexible robot system. IEEE Transactions on Industrial Electronics 43 (5) : 567-574. ScholarBank@NUS Repository.
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 (GA's) 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. © 1996 IEEE.
Source Title: IEEE Transactions on Industrial Electronics
URI: http://scholarbank.nus.edu.sg/handle/10635/62256
ISSN: 02780046
Appears in Collections:Staff Publications

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