Details

Autor(en) / Beteiligte

• Ravichandran, T.
• Wang, D.W.L.
• Heppler, G.R.

Titel

Optimal nonlinear controller design for set-point control of robot manipulators

Ist Teil von

• CCECE 2003 - Canadian Conference on Electrical and Computer Engineering. Toward a Caring and Humane Technology (Cat. No.03CH37436), 2003, Vol.3, p.1735-1738 vol.3

Ort / Verlag

IEEE

Erscheinungsjahr

2003

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• This paper presents an optimal design of a nonlinear gain PD controller for the set-point control of a rigid manipulator for handling different payloads. The nonlinear gain PD controller is selected from a class of nonlinear controllers. Sufficient conditions are given for the global asymptotic stability of the closed-loop system when using a controller from this class and the gravity compensation is not exact. To achieve optimal closed-loop system performance, convicting goals and constraints are formulated as a multiobjective optimization problem and the nonlinear gains are selected using the (/spl mu/+/spl lambda/) -ES evolutionary algorithm. The benefits afforded by the proposed controller design are demonstrated via numerical simulations performed on a two-link planar manipulator under gravity and handling different payloads.