| Naslov: | Optimal robust motion controller design using multi-objective genetic algorithm |
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| Avtorji: | ID Sarjaš, Andrej (Avtor)
ID Svečko, Rajko (Avtor)
ID Chowdhury, Amor (Avtor) |
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| Datoteke: |  The_Scientific_World_Journal_2014_Sarjas,_Svecko,_Chowdhury_Optimal_Robust_Motion_Controller_Design_Using_Multiobjective_Genetic_Algorit.pdf (2,22 MB)
MD5: 930939B1CE1097D1122A43123E9BB4BA
 http://www.hindawi.com/journals/tswj/2014/978167/
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| Jezik: | Angleški jezik |
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| Vrsta gradiva: | Znanstveno delo |
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| Tipologija: | 1.01 - Izvirni znanstveni članek |
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| Organizacija: | FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
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| Opis: | 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. |
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| Ključne besede: | disturbance observer, DOB, uncertainty systems, optimal robust control, multi-objective optimization, differential evolution |
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| Status publikacije: | Objavljeno |
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| Verzija publikacije: | Objavljena publikacija |
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| Leto izida: | 2014 |
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| Št. strani: | str. 1-14 |
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| Številčenje: | Letn. 2014 |
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| PID: | 20.500.12556/DKUM-66224  |
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| ISSN: | 1537-744X |
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| UDK: | 61:004.5 |
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| COBISS.SI-ID: | 17704982 |
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| DOI: | 10.1155/2014/978167 |
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| ISSN pri članku: | 1537-744X |
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| NUK URN: | URN:SI:UM:DK:GLWDYOQI |
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| Datum objave v DKUM: | 15.06.2017 |
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| Število ogledov: | 1630 |
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| Število prenosov: | 364 |
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| Metapodatki: |    |
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| Področja: | Ostalo
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