Mohamed Ali, M. S. and Abdullah, S. S. and Ahmad, M. A. (2008) Optimization of PID controllers for a flexible robot manipulator using metamodeling approach. In: Tenth International Conference on Control, Automation, Robotics and Vision (ICARCV 2008), 2008, Hanoi, Vietnam.
Official URL: http://dx.doi.org/10.1109/ICARCV.2008.4795578
Offline optimization of controller parameters for complex robotic system can be time consuming, even with high performance computers. This project demonstrates how Metamodeling techniques can be utilized to tune the controller parameters for a robotic system quickly. The system used in this study is the flexible robot manipulator which is a high order system and intrinsically complex flexible structures. The Radial Basis Function Neural Network metamodel used was able to give a good approximation to the optimum controller parameters in this case.
|Item Type:||Conference or Workshop Item (Paper)|
|Uncontrolled Keywords:||flexible robot manipulator, metamodeling, numerical optimization, radial basis function|
|Subjects:||T Technology > TK Electrical engineering. Electronics Nuclear engineering|
|Deposited By:||Liza Porijo|
|Deposited On:||31 Oct 2011 04:35|
|Last Modified:||31 Oct 2011 04:36|
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