Active vibration control using genetic algorithm-based system identification and positive position feedback

A system identification and vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair is presented in this paper. An iteratively implemented genetic algorithm is applied to the system identification problem of the flexible manipulator. A control law based upon positive position feedback is developed for vibration suppression. A minimization criterion based on the H1-norm of the closed loop system is solved by a genetic algorithm to derive optimal controller parameters. Numerical simulations are performed to verify the effectiveness of the system identification and vibration controller. (Some figures may appear in colour only in the online journal)

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