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Control of a Flexible Manipulator Using a Sliding Mode Controller with Genetic Algorithm Tuned Manipulator Dimension

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Genetic and Evolutionary Computation — GECCO 2003 (GECCO 2003)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2724))

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Abstract

The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control effort is shared dynamically between the rigid mode tracking and vibration suppression. Performance and effectiveness of the proposed reduced dimension sliding mode controller in vibration suppression and against payload variations are demonstrated with simulations.

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References

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Author information

Authors and Affiliations

  1. Faculty of Engineering, University of Technology, Sydney, NSW, Australia

    N. M. Kwok

  2. Department of Computer Science, City University of Hong Kong, Hong Kong SAR, P.R. China

    S. Kwong

Authors
  1. N. M. Kwok
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  2. S. Kwong
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Editor information

Editors and Affiliations

  1. Center for Applied Scientific Computing (CASC), Lawrence Livermore National Laboratory, 7000 East Avenue, L-561, Livermore, CA, 94550, USA

    Erick Cantú-Paz

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© 2003 Springer-Verlag Berlin Heidelberg

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Kwok, N.M., Kwong, S. (2003). Control of a Flexible Manipulator Using a Sliding Mode Controller with Genetic Algorithm Tuned Manipulator Dimension. In: Cantú-Paz, E., et al. Genetic and Evolutionary Computation — GECCO 2003. GECCO 2003. Lecture Notes in Computer Science, vol 2724. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45110-2_114

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  • DOI: https://doi.org/10.1007/3-540-45110-2_114

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-40603-7

  • Online ISBN: 978-3-540-45110-5

  • eBook Packages: Springer Book Archive

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