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標題: Robust motion control design for dual-axis motion platform using evolutionary algorithm
作者: Jan, H.Y.
Lin, C.L.
Huang, C.H.
Hwang, T.S.
關鍵字: Decoupling control;multi-objective optimization;evolutionary;algorithm;platform;neural network;x-y table;induction-motor;system
Project: Sadhana-Academy Proceedings in Engineering Sciences
期刊/報告no:: Sadhana-Academy Proceedings in Engineering Sciences, Volume 33, Issue 6, Page(s) 803-820.
This paper presents a new approach to deal with the dual-axis control design problem for a mechatronic platform. The cross-coupling effect leading to contour errors is effectively resolved by incorporating a neural net-based decoupling compensator. Conditions for robust stability are derived to ensure the closed-loop system stability with the decoupling compensator. An evolutionary algorithm possessing the universal solution seeking capability is proposed for finding the optimal connecting weights of the neural compensator and PID control gains for the X and Y axis control loops. Numerical studies and a real-world experiment for a watch cambered surface polishing platform have verified performance and applicability of our proposed design.
ISSN: 0256-2499
Appears in Collections:電機工程學系所

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