Robust motion control design for dual-axis motion platform using evolutionary algorithm

被引：0
作者：
Horn-Yong Jan
Chun-Liang Lin
Ching-Huei Huang
Thong-Shing Hwang
机构：
[1] Feng Chia University,Graduate Institute of Electrical and Communications Engineering
[2] National Chung Hsing University,Department of Electrical Engineering
来源：
Sadhana | 2008年 / 33卷
关键词：
Decoupling control; multi-objective optimization; evolutionary algorithm; platform; neural network;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a new approach to deal with the dual-axis control design problem for a mechatronic platform. The cross-coupling effect leading to contour errors is effectively resolved by incorporating a neural net-based decoupling compensator. Conditions for robust stability are derived to ensure the closed-loop system stability with the decoupling compensator. An evolutionary algorithm possessing the universal solution seeking capability is proposed for finding the optimal connecting weights of the neural compensator and PID control gains for the X and Y axis control loops. Numerical studies and a real-world experiment for a watch cambered surface polishing platform have verified performance and applicability of our proposed design.
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页码：803 / 820
页数：17
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