Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension

N. M. KWOK; S. KWONG

doi:10.1007/3-540-45110-2_114

Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension

N. M. KWOK^*, S. KWONG

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

3 Citations (Scopus)

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.

Original language	English
Title of host publication	Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II
Editors	Erick CANTÚ-PAZ, James A. FOSTER, Graham KENDALL, Mark HARMAN, Dipankar DASGUPTA, Kalyanmoy DEB, Lawrence DAVID DAVIS, Rajkumar ROY, Una-May O'REILLY, Hans-Georg BEYER, Russell STANDISH, Stewart WILSON, Joachim WEGENER, Mitch A. POTTER, Alan C. Schultz, Kathryn A. DOWSLAND, Natasha JONOSKA, Julian MILLER
Place of Publication	Heidelberg
Publisher	Springer Berlin
Pages	2191-2202
Number of pages	12
ISBN (Electronic)	9783540451105
ISBN (Print)	9783540406037
DOIs	https://doi.org/10.1007/3-540-45110-2_114
Publication status	Published - 2003
Externally published	Yes
Event	2003 Genetic and Evolutionary Computation Conference - Chicago, United States Duration: 12 Jul 2003 → 16 Jul 2003

Publication series

Name	Lecture Notes in Computer Science
Volume	2724
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2003 Genetic and Evolutionary Computation Conference
Abbreviated title	GECCO 2003
Country/Territory	United States
City	Chicago
Period	12/07/03 → 16/07/03

Keywords

Genetic Algorithm
Vibration Mode
Sliding Mode
Mode Controller
Slide Mode Controller

Access to Document

10.1007/3-540-45110-2_114

Cite this

KWOK, N. M., & KWONG, S. (2003). Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension. In E. CANTÚ-PAZ, J. A. FOSTER, G. KENDALL, M. HARMAN, D. DASGUPTA, K. DEB, L. DAVID DAVIS, R. ROY, U.-M. O'REILLY, H.-G. BEYER, R. STANDISH, S. WILSON, J. WEGENER, M. A. POTTER, A. C. Schultz, K. A. DOWSLAND, N. JONOSKA, & J. MILLER (Eds.), Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II (pp. 2191-2202). (Lecture Notes in Computer Science; Vol. 2724). Springer Berlin. https://doi.org/10.1007/3-540-45110-2_114

KWOK, N. M. ; KWONG, S. / Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension. Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II. editor / Erick CANTÚ-PAZ ; James A. FOSTER ; Graham KENDALL ; Mark HARMAN ; Dipankar DASGUPTA ; Kalyanmoy DEB ; Lawrence DAVID DAVIS ; Rajkumar ROY ; Una-May O'REILLY ; Hans-Georg BEYER ; Russell STANDISH ; Stewart WILSON ; Joachim WEGENER ; Mitch A. POTTER ; Alan C. Schultz ; Kathryn A. DOWSLAND ; Natasha JONOSKA ; Julian MILLER. Heidelberg : Springer Berlin, 2003. pp. 2191-2202 (Lecture Notes in Computer Science).

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title = "Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension",

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.",

keywords = "Genetic Algorithm, Vibration Mode, Sliding Mode, Mode Controller, Slide Mode Controller",

author = "KWOK, {N. M.} and S. KWONG",

year = "2003",

doi = "10.1007/3-540-45110-2_114",

language = "English",

isbn = "9783540406037",

series = "Lecture Notes in Computer Science",

publisher = "Springer Berlin",

pages = "2191--2202",

editor = "Erick CANT{\'U}-PAZ and FOSTER, {James A.} and Graham KENDALL and Mark HARMAN and { DASGUPTA}, Dipankar and Kalyanmoy DEB and {DAVID DAVIS}, Lawrence and Rajkumar ROY and Una-May O'REILLY and Hans-Georg BEYER and Russell STANDISH and Stewart WILSON and Joachim WEGENER and POTTER, {Mitch A.} and Schultz, {Alan C.} and DOWSLAND, {Kathryn A.} and Natasha JONOSKA and Julian MILLER",

booktitle = "Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II",

address = "Germany",

note = "2003 Genetic and Evolutionary Computation Conference, GECCO 2003 ; Conference date: 12-07-2003 Through 16-07-2003",

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KWOK, NM & KWONG, S 2003, Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension. in E CANTÚ-PAZ, JA FOSTER, G KENDALL, M HARMAN, D DASGUPTA, K DEB, L DAVID DAVIS, R ROY, U-M O'REILLY, H-G BEYER, R STANDISH, S WILSON, J WEGENER, MA POTTER, AC Schultz, KA DOWSLAND, N JONOSKA & J MILLER (eds), Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II. Lecture Notes in Computer Science, vol. 2724, Springer Berlin, Heidelberg, pp. 2191-2202, 2003 Genetic and Evolutionary Computation Conference, Chicago, Illinois, United States, 12/07/03. https://doi.org/10.1007/3-540-45110-2_114

Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension. / KWOK, N. M.; KWONG, S.
Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II. ed. / Erick CANTÚ-PAZ; James A. FOSTER; Graham KENDALL; Mark HARMAN; Dipankar DASGUPTA; Kalyanmoy DEB; Lawrence DAVID DAVIS; Rajkumar ROY; Una-May O'REILLY; Hans-Georg BEYER; Russell STANDISH; Stewart WILSON; Joachim WEGENER; Mitch A. POTTER; Alan C. Schultz; Kathryn A. DOWSLAND; Natasha JONOSKA; Julian MILLER. Heidelberg: Springer Berlin, 2003. p. 2191-2202 (Lecture Notes in Computer Science; Vol. 2724).

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

TY - GEN

T1 - Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension

AU - KWOK, N. M.

AU - KWONG, S.

PY - 2003

Y1 - 2003

N2 - 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.

AB - 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.

KW - Genetic Algorithm

KW - Vibration Mode

KW - Sliding Mode

KW - Mode Controller

KW - Slide Mode Controller

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U2 - 10.1007/3-540-45110-2_114

DO - 10.1007/3-540-45110-2_114

M3 - Conference paper (refereed)

AN - SCOPUS:21144444748

SN - 9783540406037

T3 - Lecture Notes in Computer Science

SP - 2191

EP - 2202

BT - Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II

A2 - CANTÚ-PAZ, Erick

A2 - FOSTER, James A.

A2 - KENDALL, Graham

A2 - HARMAN, Mark

A2 - DASGUPTA, Dipankar

A2 - DEB, Kalyanmoy

A2 - DAVID DAVIS, Lawrence

A2 - ROY, Rajkumar

A2 - O'REILLY, Una-May

A2 - BEYER, Hans-Georg

A2 - STANDISH, Russell

A2 - WILSON, Stewart

A2 - WEGENER, Joachim

A2 - POTTER, Mitch A.

A2 - Schultz, Alan C.

A2 - DOWSLAND, Kathryn A.

A2 - JONOSKA, Natasha

A2 - MILLER, Julian

PB - Springer Berlin

CY - Heidelberg

T2 - 2003 Genetic and Evolutionary Computation Conference

Y2 - 12 July 2003 through 16 July 2003

ER -

KWOK NM, KWONG S. Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension. In CANTÚ-PAZ E, FOSTER JA, KENDALL G, HARMAN M, DASGUPTA D, DEB K, DAVID DAVIS L, ROY R, O'REILLY UM, BEYER HG, STANDISH R, WILSON S, WEGENER J, POTTER MA, Schultz AC, DOWSLAND KA, JONOSKA N, MILLER J, editors, Genetic and Evolutionary Computation : GECCO 2003 : Genetic and Evolutionary Computation Conference Chicago, IL, USA, July 12–16, 2003 Proceedings, Part II. Heidelberg: Springer Berlin. 2003. p. 2191-2202. (Lecture Notes in Computer Science). doi: 10.1007/3-540-45110-2_114

Control of a flexible manipulator using a sliding mode controller with genetic algorithm tuned manipulator dimension

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