Using a genetic algorithm to fully optimise a fuzzy logic controller for a two-link-flexible robot arm

Flexible manipulators have received wide attention because they surpass their rigid counterparts in many criteria. Unfortunately, traditional controller design methods for flexible arms implemented by human experts are usually tedious and intractable. In order to improve system behaviour, this paper proposes schemes based on genetic algorithms (GAs) which optimise the parameters of a fuzzy logic controller for a robotic manipulator with two-link flexibility and two-joint elasticity. Two alternative GA-optimised schemes are simulated and their control behaviour is compared with that of human-expert-designed controller.

[1]  J. Buckley,et al.  Fuzzy genetic algorithm and applications , 1994 .

[2]  Martin Brown,et al.  Intelligent Control - Aspects of Fuzzy Logic and Neural Nets , 1993, World Scientific Series in Robotics and Intelligent Systems.

[3]  Y. Li,et al.  Robust Control of a Two-Link Flexible Manipulator with Quasi-Static Deflection Compensation Using Neural Networks , 2005, J. Intell. Robotic Syst..

[4]  H. B. Gürocak,et al.  A genetic-algorithm-based method for tuning fuzzy logic controllers , 1999, Fuzzy Sets Syst..

[5]  L. Meirovitch.  Analytical Methods in Vibrations , 1967 .

[6]  Fakhri Karray,et al.  Robust Tracking of a Lightweight Manipulator System , 1999 .

[7]  Alan S. Morris,et al.  Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity , 2003, Int. J. Syst. Sci..

[8]  Anthony Green,et al.  Adaptive Control of a Flexible Robot Using Fuzzy Logic , 2005 .

[9]  Robert J. Wood,et al.  Towards a 3g crawling robot through the integration of microrobot technologies , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[10]  A. H. Soni,et al.  Coupling Effects of Kinematics and Flexibility in Manipulators , 1987 .

[11]  Guanrong Chen,et al.  Mathematical modeling and fuzzy control of a flexible-link robot arm , 1998 .

[12]  Abdollah Homaifar,et al.  Design using genetic algorithms of hierarchical hybrid fuzzy‐PID controllers of two‐link robotic arms , 1997 .

[13]  Jorge Martins,et al.  Modeling of Flexible Beams for Robotic Manipulators , 2002 .

[14]  Darren M. Dawson,et al.  Lyapunov-Based Vibration Control of Translational Euler-Bernoulli Beams Using the Stabilizing Effect of Beam Damping Mechanisms , 2004 .

[15]  John H. Holland,et al.  Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence , 1992 .

[16]  Ashitava Ghosal,et al.  Comparison of the Assumed Modes and Finite Element Models for Flexible Multilink Manipulators , 1995, Int. J. Robotics Res..

[17]  Abdollah Homaifar,et al.  Simultaneous design of membership functions and rule sets for fuzzy controllers using genetic algorithms , 1995, IEEE Trans. Fuzzy Syst..

[18]  Frank L. Lewis,et al.  A neural network controller for flexible-link robots , 1996, J. Intell. Robotic Syst..

[19]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .

[20]  Y. Aoustin,et al.  The singular perturbation control of a two-flexible-link robot , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[21]  M.A. Lee,et al.  Integrating design stage of fuzzy systems using genetic algorithms , 1993, [Proceedings 1993] Second IEEE International Conference on Fuzzy Systems.

[22]  J. Lin.  Hierarchical fuzzy logic controller for a flexible link robot arm performing constrained motion tasks , 2003 .

[23]  Shuzhi Sam Ge,et al.  A nonlinear feedback controller for a single‐link flexible manipulator based on a finite element model , 1997 .

[24]  Rajnikant V. Patel,et al.  Neural network based dynamic modeling of flexible-link manipulators with application to the SSRMS , 2000, J. Field Robotics.

[25]  Stephen Yurkovich,et al.  Fuzzy learning control for a flexible-link robot , 1995, IEEE Trans. Fuzzy Syst..

[26]  S. Tadikonda,et al.  Assumed Modes Method and Articulated Flexible Multibody Dynamics , 1995 .

[27]  Alan S. Morris,et al.  Quadratic optimal control of a two-flexible-link robot manipulator , 1998, Robotica.