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Genetic algorithm tuning of Lyapunov-based controllers: an application to a single-link flexible robot system

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3 Author(s)
Ge, S.S. ; Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore ; Lee, T.H. ; Zhu, G.

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 (GAs) 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

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Industrial Electronics, IEEE Transactions on  (Volume:43 ,  Issue: 5 )