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Title:Optimal robust motion controller design using multi-objective genetic algorithm
Authors:Sarjaš, Andrej (Author)
Svečko, Rajko (Author)
Chowdhury, Amor (Author)
Files:.pdf The_Scientific_World_Journal_2014_Sarjas,_Svecko,_Chowdhury_Optimal_Robust_Motion_Controller_Design_Using_Multiobjective_Genetic_Algorit.pdf (2,22 MB)
MD5: 930939B1CE1097D1122A43123E9BB4BA
URL http://www.hindawi.com/journals/tswj/2014/978167/
Work type:Scientific work (r2)
Typology:1.01 - Original Scientific Article
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:This paper describes the use of a multi-objective 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 non-negativity 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 multi-objective 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 multi-objective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm - Differential evolution.
Keywords:disturbance observer, DOB, uncertainty systems, optimal robust control, multi-objective optimization, differential evolution
Year of publishing:2014
Number of pages:str. 1-14
Numbering:Letn. 2014
ISSN on article:1537-744X
COBISS_ID:17704982 New window
DOI:10.1155/2014/978167 New window
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Record is a part of a journal

Title:The Scientific World Journal
Publisher:Hindawi Publishing Corporation
COBISS.SI-ID:2607642 New window


License:CC BY 4.0, Creative Commons Attribution 4.0 International
Description:This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:15.06.2017

Secondary language

Keywords:negotovost, optimalno robustno vodenje, večciljna optimizacija, diferencialna evolucija


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