GA based adaptive controller for 2DOF robot manipulator

Simple item page
dc.contributor.authorVijay, M.
dc.contributor.authorJena, D.
dc.date.accessioned2026-02-06T06:40:00Z
dc.date.issued2014
dc.description.abstractIn this paper different types of robotic manipulator controllers are developed to acquire dynamic properties and improve the global stability. Here two control schemes for two degrees of freedom (2DOF) robot manipulator are discussed. The controllers are developed using Fminsearch and Genetic Algorithm (GA). The main objectives of these controllers are to provide stability, good disturbance rejection and small tracking error. The Proportional Derivative (PD) and Proportional Integral Derivative (PID) conventional controllers are developed for three different control strategies (IATE, ISE and ISTE) using Fminsearch and GA. The performances of these controllers are compared with various torque disturbances in terms of path tracking and disturbance rejection. © 2014 IFAC.
dc.identifier.citationIFAC Proceedings Volumes (IFAC-PapersOnline), 2014, Vol.3, PART 1, p. 670-675
dc.identifier.issn14746670; 24058971
dc.identifier.urihttps://doi.org/10.3182/20140313-3-IN-3024.00085
dc.identifier.urihttps://idr.nitk.ac.in/handle/123456789/32647
dc.publisherIFAC Secretariat
dc.subjectConventional and global controller
dc.subjectDisturbance rejection and position tracking
dc.subjectOptimal control strategies
dc.subjectRobot manipulator
dc.titleGA based adaptive controller for 2DOF robot manipulator

Files

Collections

Conference Papers