TY - JOUR
T1 - Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension
AU - Kwok, N. M.
AU - Kwong, S.
PY - 2003
Y1 - 2003
N2 - The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control effort is shared dynamically between the rigid mode tracking and vibration suppression. Performance and effectiveness of the proposed reduced dimension sliding mode controller in vibration suppression and against payload variations are demonstrated with simulations. © Springer-Verlag Berlin Heidelberg 2003.
AB - The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control effort is shared dynamically between the rigid mode tracking and vibration suppression. Performance and effectiveness of the proposed reduced dimension sliding mode controller in vibration suppression and against payload variations are demonstrated with simulations. © Springer-Verlag Berlin Heidelberg 2003.
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M3 - RGC 21 - Publication in refereed journal
SN - 0302-9743
VL - 2724
SP - 2191
EP - 2202
JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ER -