Using genetic algorithm for parameter tuning on ILC controller design

Authors:
Alireza Rezaee;Mohammad jafarpour jalali
Affiliations:
Islamic azad university Hashtgerd branch, Alborz, Iran;Islamic azad university Buinzahra branch, Qazvin, Iran
Venue:
ICSI'11 Proceedings of the Second international conference on Advances in swarm intelligence - Volume Part II
Year:
2011

Citing 4
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Abstract

In this project we use the ILC control method to manipulate the robotic arms of a robot with two degrees of freedom. First we implement the dynamic equations of robot according to the Schillings book of robotic. The aforementioned implementation was done in MATLAB SIMULINK environment. The Genetic Algorithm was used for tuning the coefficients of PD Controllers (proportional and derivative gains). Also we use Multi objective genetic Algorithm to attain the coefficients of ILC PD Controllers.