By Topic

GA-based practical compensator design for a motion control system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ito, K. ; Dept. of Electr. Eng. & Comput. Sci., Nagoya Inst. of Technol., Japan ; Iwasaki, M. ; Matsui, N.

Presents an evolutionary algorithm for the robust motion controller design in mechatronics systems using a genetic algorithm (GA). The motion control system is composed of a robust 2-degrees-of-freedom compensator based on the coprime factorization description. Conventional controller design approaches to the optimization for compensator-free parameters essentially require complicated numerical procedures under the given control specifications. In this research, a simple and practical algorithm for the compensator design for motion control systems has been proposed. Using the optimization ability of the GA, the proposed algorithm is able to autonomously tune the optimal combination of the compensator-free parameters to satisfy the specified motion control performance. The effectiveness of the proposed optimal design can be verified by experiments using a prototype, paying attention to the system robustness against variations of mechanical parameters and the fast convergence of the optimization by the GA

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:6 ,  Issue: 2 )