title: Optimal robust motion controller design using multiobjective genetic algorithm.
abstract: This paper describes the use of a multiobjective 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 nonnegativity 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 multiobjective 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 multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm-differential evolution.
authors.affiliation: Faculty of Electrical Engineering and Computer Science, University of Maribor, Smetanova 17, 2000 Maribor, Slovenia.
authors.forename: Andrej
authors.identifier: 0000-0002-4767-1173
authors.initials: A
authors.lastname: Sarjaš
authors.affiliation: Faculty of Electrical Engineering and Computer Science, University of Maribor, Smetanova 17, 2000 Maribor, Slovenia.
authors.forename: Rajko
authors.initials: R
authors.lastname: Svečko
authors.affiliation: Faculty of Electrical Engineering and Computer Science, University of Maribor, Smetanova 17, 2000 Maribor, Slovenia ; Margento B.V., Crystal Tower, Orlyplein 10, 1043 DP Amsterdam, The Netherlands.
authors.forename: Amor
authors.identifier: 0000-0001-6025-2566
authors.initials: A
authors.lastname: Chowdhury
mesh_terms: D000465:Algorithms; D005246:Feedback; D009038:Motion