Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm
Joint Authors
Chowdhury, Amor
Sarjaš, Andrej
Svečko, Rajko
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-08
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
This paper describes the use of a multiobjective genetic algorithm for robust motion controller design.
Motion controller structure is based on a disturbance observer in an RIC framework.
The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised.
This paper involves novel objectives for robustness and performance assessments for such an approach.
Objective functions for the robustness property of RIC are based on simple even polynomials with nonnegativity conditions.
Regional pole placement method is presented with the aims of controllers’ structures simplification and their additional arbitrary selection.
Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location.
Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions.
A multiobjective function is composed of different unrelated criteria such as robust stability, controllers’ stability, and time-performance indexes of closed loops.
The design of controllers and multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm—differential evolution.
American Psychological Association (APA)
Sarjaš, Andrej& Svečko, Rajko& Chowdhury, Amor. 2014. Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-15.
https://search.emarefa.net/detail/BIM-1051838
Modern Language Association (MLA)
Sarjaš, Andrej…[et al.]. Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm. The Scientific World Journal No. 2014 (2014), pp.1-15.
https://search.emarefa.net/detail/BIM-1051838
American Medical Association (AMA)
Sarjaš, Andrej& Svečko, Rajko& Chowdhury, Amor. Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-15.
https://search.emarefa.net/detail/BIM-1051838
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1051838