Wszystkie pola: two-link flexible manipulator - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator
Autorzy:: Subudhi, B.
Ranasingh, S.
Swain, A. K.
Powiązania:: https://bibliotekanauki.pl/articles/229971.pdf
Data publikacji:: 2011
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: flexible manipulator
genetic algorithm
bacteria foraging
fitness function
Opis:: Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
Źródło:: Archives of Control Sciences; 2011, 21, 3; 269-285
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

Zmień widok

na półce

Skocz do pozycji: 2.

Tytuł:: The optimal design of fractional sliding mode control based on multi-objective genetic algorithms for a two-link flexible manipulator
Autorzy:: Pouya, M.
Pashaki, P. V.
Powiązania:: https://bibliotekanauki.pl/articles/102531.pdf
Data publikacji:: 2017
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:: fractional calculations
sliding mode control
two-link flexible manipulator
Pareto optimal
genetic algorithm
Opis:: In this paper a novel optimal approach of control strategy is introduced by applying fractional calculus in the structure of sliding mode control for a range of dynamics system liable to ambiguity. So, a fractional sliding mode control was designed for dynamics of the two-link rigid-flexible manipulator. Furthermore, a multi-objective genetic algorithm was proposed in order to find the ideal variable structure of the sliding mode control. Optimal variables were achieved by the optimization of the conventional sliding mode control. Then the performance of both the conventional and the fractional sliding mode control were compared with respect to optimal variables. Results indicated that by applying the optimized fractional sliding mode control, the system’s error was significantly reduced consequently tracking the desired value was done with a higher degree of accuracy and a smoother control action was achieved.
Źródło:: Advances in Science and Technology. Research Journal; 2017, 11, 3; 56-65
2299-8624
Pojawia się w:: Advances in Science and Technology. Research Journal
Dostawca treści:: Biblioteka Nauki

Artykuł

Zmień widok

na półce

Informacja

Wyszukujesz frazę "two-link flexible manipulator" wg kryterium: Wszystkie pola

Źródło danych

Dostawca treści

Kolekcja

Rok wydania

Wydawca

Temat

Autor

Typ dokumentu

Język