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Using Genetic Algorithm for Parameter Tuning ON ILC Controller Design

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Advances in Swarm Intelligence (ICSI 2011)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 6729))

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Abstract

In this project we use the ILC control method to manipulate the robotic arms of a robot with two degrees of freedom. First we implement the dynamic equations of robot according to the Schillings book of robotic. The aforementioned implementation was done in MATLAB SIMULINK environment. The Genetic Algorithm was used for tuning the coefficients of PD Controllers (proportional and derivative gains). Also we use Multi objective genetic Algorithm to attain the coefficients of ILC PD Controllers.

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References

  1. Siciavicco, L., Siciliano, B.: Modeling and control of robot Manipulators. McGraw-Hill, New York (1996)

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Author information

Authors and Affiliations

  1. Islamic azad university Hashtgerd branch, Alborz, Iran

    Alireza rezaee

  2. Islamic azad university Buinzahra branch, Qazvin, Iran

    Mohammad jafarpour jalali

Authors
  1. Alireza rezaee
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  2. Mohammad jafarpour jalali
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Editor information

Editors and Affiliations

  1. Key Laboratory of Machine Perception, Department of Machine Intelligence, School of Electronics Engineering and Computer Science, Peking University, 100871, Beijing, China

    Ying Tan

  2. Department of Electrical and Electronic Engineering, Xi’an Jiaotong-Liverpool University, 215123, Suzhou, China

    Yuhui Shi

  3. Automation College, Chongqing University, 400030, Chongqing, China

    Yi Chai

  4. Institute of Computer Science and Technology, Chongqing University of Posts and Telecommunications, 400065, Chongqing, P.R. China

    Guoyin Wang

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© 2011 Springer-Verlag Berlin Heidelberg

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rezaee, A., jalali, M.j. (2011). Using Genetic Algorithm for Parameter Tuning ON ILC Controller Design. In: Tan, Y., Shi, Y., Chai, Y., Wang, G. (eds) Advances in Swarm Intelligence. ICSI 2011. Lecture Notes in Computer Science, vol 6729. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21524-7_45

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  • DOI: https://doi.org/10.1007/978-3-642-21524-7_45

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-21523-0

  • Online ISBN: 978-3-642-21524-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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