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|Title:||Genetic algorithm tuning of lyapunov-based controllers: An application to a single-link flexible robot system|
|Authors:||Ge, S.S. |
|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|
|Appears in Collections:||Staff Publications|
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