TY - GEN
T1 - Adaptive Control for the Four-Bar Linkage Mechanism Based on Differential Evolution
AU - Rodríguez-Molina, Alejandro
AU - Gabriel Villarreal-Cervantes, Miguel
AU - Aldape-Pérez, Mario
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/28
Y1 - 2018/9/28
N2 - 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.
AB - 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.
KW - Adaptive control
KW - Differential Evolution
KW - Four-Bar Linkage Mechanism
UR - http://www.scopus.com/inward/record.url?scp=85056273312&partnerID=8YFLogxK
U2 - 10.1109/CEC.2018.8477942
DO - 10.1109/CEC.2018.8477942
M3 - Contribución a la conferencia
AN - SCOPUS:85056273312
T3 - 2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings
BT - 2018 IEEE Congress on Evolutionary Computation, CEC 2018 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE Congress on Evolutionary Computation, CEC 2018
Y2 - 8 July 2018 through 13 July 2018
ER -