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Conference Paper: Performance measures in the genetic design of digital controllers for robotic manipulators

TitlePerformance measures in the genetic design of digital controllers for robotic manipulators
Authors
KeywordsComputers
Artificial intelligence
Issue Date1995
PublisherIEEE.
Citation
IEEE International Conference on Evolutionary Computation Proceedings, Perth, WA, Australia, 29 November - 1 December 1995, v. 2, p. 509-514 How to Cite?
AbstractGenetic algorithms are used to design digital multivariable PID controllers for robotic manipulators for typical trajectory-tracking tasks when various different performance measures are used. It is thus shown that, by using an appropriate performance measure, the set of controller parameters can be readily found that determines the optimal time-domain trajectory-tracking behaviour for such tasks. This use of genetic algorithms is illustrated by the design of digital trajectory-tracking PID controllers for a typical three-degree-of-freedom robotic manipulator.
Persistent Identifierhttp://hdl.handle.net/10722/46568

 

DC FieldValueLanguage
dc.contributor.authorPorter, Ben_HK
dc.contributor.authorAllaoui, Cen_HK
dc.date.accessioned2007-10-30T06:53:07Z-
dc.date.available2007-10-30T06:53:07Z-
dc.date.issued1995en_HK
dc.identifier.citationIEEE International Conference on Evolutionary Computation Proceedings, Perth, WA, Australia, 29 November - 1 December 1995, v. 2, p. 509-514en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46568-
dc.description.abstractGenetic algorithms are used to design digital multivariable PID controllers for robotic manipulators for typical trajectory-tracking tasks when various different performance measures are used. It is thus shown that, by using an appropriate performance measure, the set of controller parameters can be readily found that determines the optimal time-domain trajectory-tracking behaviour for such tasks. This use of genetic algorithms is illustrated by the design of digital trajectory-tracking PID controllers for a typical three-degree-of-freedom robotic manipulator.en_HK
dc.format.extent415758 bytes-
dc.format.extent4653 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.rights©1995 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectComputersen_HK
dc.subjectArtificial intelligenceen_HK
dc.titlePerformance measures in the genetic design of digital controllers for robotic manipulatorsen_HK
dc.typeConference_Paperen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ICEC.1995.487436en_HK
dc.identifier.hkuros20992-

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