A teacher learning based optimization approach to tune backstepping controller for a single-link flexible-joint manipulator

This paper presents a Teacher Learning Based Optimization (TLBO) approach to tune the backstepping controller for effective control of a single-link flexible-joint manipulator. To assess the relative performance of TLBO, comparative studies have been carried out with the two other popular optimization techniques namely genetic algorithm and cuckoo search algorithm. The integral absolute error was minimized and used as the performance index to carry out the performance evaluation for the above mentioned optimization techniques. Based on the presented simulation studies, it is concluded that TLBO is a prospective method for backstepping controller tuning for a single-link flexible-joint manipulator.