Adaptive Control for the Four-Bar Linkage Mechanism Based on Differential Evolution

Alejandro Rodríguez-Molina, Miguel Gabriel Villarreal-Cervantes, Mario Aldape-Pérez

Research output: Contribution to conferencePaper

Abstract

© 2018 IEEE. Position tracking in the four-bar linkage mechanism is an important task in several high precision automation processes in the industry. Accuracy may decrease due to uncertainties, but an adaptive control approach can handle them. In this work, an adaptive control strategy for the trajectory tracking of the four-bar linkage mechanism is presented. This strategy includes an adaptive mechanism based on a dynamic optimization process. In this process, a dynamic optimization problem is stated and solved on-line using a meta-heuristic optimizer to find the best set of control parameters which are used in a PID-computed-torque controller. Differential Evolution is chosen as the optimizer and a variant with an optimum tracking mechanism which allows to maintain the diversity of solutions is proposed in order to handle the changing best solution of the dynamic optimization problem. A full statistical analysis is used to prove the effectiveness of the proposed strategy.
Original languageAmerican English
DOIs
StatePublished - 28 Sep 2018
Event2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings -
Duration: 28 Sep 2018 → …

Conference

Conference2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings
Period28/09/18 → …

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Statistical methods
Automation
Torque
Trajectories
Controllers
Industry
Uncertainty

Cite this

Rodríguez-Molina, A., Gabriel Villarreal-Cervantes, M., & Aldape-Pérez, M. (2018). Adaptive Control for the Four-Bar Linkage Mechanism Based on Differential Evolution. Paper presented at 2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings, . https://doi.org/10.1109/CEC.2018.8477942
Rodríguez-Molina, Alejandro ; Gabriel Villarreal-Cervantes, Miguel ; Aldape-Pérez, Mario. / Adaptive Control for the Four-Bar Linkage Mechanism Based on Differential Evolution. Paper presented at 2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings, .
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Rodríguez-Molina, A, Gabriel Villarreal-Cervantes, M & Aldape-Pérez, M 2018, 'Adaptive Control for the Four-Bar Linkage Mechanism Based on Differential Evolution' Paper presented at 2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings, 28/09/18, . https://doi.org/10.1109/CEC.2018.8477942

Adaptive Control for the Four-Bar Linkage Mechanism Based on Differential Evolution. / Rodríguez-Molina, Alejandro; Gabriel Villarreal-Cervantes, Miguel; Aldape-Pérez, Mario.

2018. Paper presented at 2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings, .

Research output: Contribution to conferencePaper

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Rodríguez-Molina A, Gabriel Villarreal-Cervantes M, Aldape-Pérez M. Adaptive Control for the Four-Bar Linkage Mechanism Based on Differential Evolution. 2018. Paper presented at 2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings, . https://doi.org/10.1109/CEC.2018.8477942