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Motion control of elastic joint based on kalman optimization with evolutionary algorithm

Caux, Stéphane and Carrière, Sébastien and Fadel, Maurice and Sareni, Bruno Motion control of elastic joint based on kalman optimization with evolutionary algorithm. (2009) In: IEEE Industry Applications Society Annual Meeting (IAS’09), 4 October 2009 - 8 October 2009 (Houston, United States).

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Official URL: http://dx.doi.org/10.1109/IAS.2009.5324812

Abstract

Actual industrial ambition is to remove a maximum of sensor to improve reliability and cost. Performances are then decreasing a lot, specially for a system with variable parameters and direct drives. Moreover, a two-mass system representing numerous class of industrial problem can become unstable. Keeping stability, a simple controller and observer tuning approach and a lower time consuming are main goals of this study. A previous calculated state feedback is used as base for two Kalman filters with special a noise matrix. An evolutionary algorithm optimizes observer's degrees of freedom to keep stability all over the stiffness variation. The results show that the stability and performances are kept on an experimental test bench.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to IEEE. The definitive version is available at http://ieeexplore.ieee.org/ The original PDF can be found at http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5324812&tag=1 Industry Applications Society Annual Meeting. IEEE. (2009) pp. 1-5. ISSN:0197-2618 E-ISBN : 978-1-4244-3476-3
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
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Deposited On:12 Sep 2013 10:09

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