A Robust Controller of a Flexible Manipulator Using Genetic Algorithm

Abstract

This paper addresses the issues related to the design of robust controller using genetic algorithms (GA) for lightweight, one-link flexible manipulators working under dynamic environments and other uncertain influences. By selecting sensitivity weight functions properly using the GA method, a mixed sensitivity Hinfin controller is developed to ensure robustness of manipulator control systems for varying payloads and other modeling uncertainties. Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method