基于教师学习的单连杆柔性关节机械臂反步控制器优化方法

2016 2nd International Conference on Communication Control and Intelligent Systems (CCIS) Pub Date : 2016-11-01 DOI:10.1109/CCINTELS.2016.7878221

Navtej Singh Narula, Ayush Bhatnagar, Vineet Kumar, K. Rana

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引用次数: 7

摘要

本文提出了一种基于教师学习的优化方法来调整反步控制器，使其有效地控制单连杆柔性关节机械臂。为了评估TLBO的相对性能，我们与另外两种流行的优化技术——遗传算法和布谷鸟搜索算法进行了比较研究。以积分绝对误差最小化为性能指标，对上述优化技术进行性能评价。基于所提出的仿真研究，得出TLBO是一种有前景的单连杆柔性关节机械臂反步控制器整定方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A teacher learning based optimization approach to tune backstepping controller for a single-link flexible-joint manipulator

This paper presents a Teacher Learning Based Optimization (TLBO) approach to tune the backstepping controller for effective control of a single-link flexible-joint manipulator. To assess the relative performance of TLBO, comparative studies have been carried out with the two other popular optimization techniques namely genetic algorithm and cuckoo search algorithm. The integral absolute error was minimized and used as the performance index to carry out the performance evaluation for the above mentioned optimization techniques. Based on the presented simulation studies, it is concluded that TLBO is a prospective method for backstepping controller tuning for a single-link flexible-joint manipulator.

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2016 2nd International Conference on Communication Control and Intelligent Systems (CCIS)

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