Author/Editor		Sarjaš, Andrej; Svečko, Rajko; Chowdhury, Amor
Title		Optimal robust motion controller design using multi-objective genetic algorithm
Type		članek
Publication year		2014
Volume		str. 1-14
ISSN		1537-744X - TheScientificWorldJournal
Language		eng
Abstract		This paper describes the use of a multi-objective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with non-negativity conditions. Regional pole placement method is presented with the aims of controllers% structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multi-objective function is composed of different unrelated criteria such as, robust stability, controllers% stability and time performance indexes of closed loops. The design of controllers and multi-objective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm - Differential evolution.
Keywords		disturbance observer-DOB uncertaintry systems optimal robust control multi-objective optimization differential evolution