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Genetic robustification of digital trajectory-tracking controllers for robotic manipulators

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2 Author(s)
Porter, B. ; Div. of Intelligent Machinery, Salford Univ., UK ; Allaoui, C.

In this paper, genetic algorithms are used to robustify digital multivariable PID controllers for robotic manipulators. This process of robustification is effected by using genetic algorithms to determine the optimal set of controller tuning parameters for typical trajectory-tracking tasks. This use of genetic algorithms is illustrated by the design of a digital trajectory-tracking controller for a typical three-degree-of-freedom robotic manipulator

Published in:

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on  (Volume:5 )

Date of Conference:

22-25 Oct 1995