Multi-objective genetic algorithm control
This chapter presents the adoption of multi-objective evolutionary algorithms for control of flexible manipulator systems. Fundamentals of multi-objective optimisation and formulation of multi-objective optimisation algorithms are presented. The process of developing a multi-objective genetic algorithm (MOGA) is presented and is used in design of controllers for set-point tracking and end-point vibration control of a single link flexible manipulator. The potential of MOGA is utilised to develop an approach for automatic design of multi-modal command shapers. Two detailed case studies involving design of multi-modal command shapers for an open-loop case and for a closed-loop case in combination with a proportional derivative (PD) control are presented and their performances in set-point tracking and vibration reduction are assessed and discussed.
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