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Title:Optimal robust motion controller design using multi-objective genetic algorithm
Authors:ID Sarjaš, Andrej (Author)
ID Svečko, Rajko (Author)
ID 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/
 
Language:English
Work type:Scientific work
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
Publication status:Published
Publication version:Version of Record
Year of publishing:2014
Number of pages:str. 1-14
Numbering:Letn. 2014
PID:20.500.12556/DKUM-66224 New window
ISSN:1537-744X
UDC:61:004.5
ISSN on article:1537-744X
COBISS.SI-ID:17704982 New window
DOI:10.1155/2014/978167 New window
NUK URN:URN:SI:UM:DK:GLWDYOQI
Publication date in DKUM:15.06.2017
Views:1630
Downloads:364
Metadata:XML DC-XML DC-RDF
Categories:Misc.
:
SARJAŠ, Andrej, SVEČKO, Rajko and CHOWDHURY, Amor, 2014, Optimal robust motion controller design using multi-objective genetic algorithm. The Scientific World Journal [online]. 2014. Vol. 2014, p. 1–14. [Accessed 27 March 2025]. DOI 10.1155/2014/978167. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=66224
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Record is a part of a journal

Title:The Scientific World Journal
Publisher:Hindawi Publishing Corporation
ISSN:1537-744X
COBISS.SI-ID:2607642 New window

Licences

License:CC BY 4.0, Creative Commons Attribution 4.0 International
Link:http://creativecommons.org/licenses/by/4.0/
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

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


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