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As we know that the recording density is increasing at an impressive annual rate of 100%, and the access time is decreasing; very soon, the storage density of Harddisk drive will cross 1 Terra bit per square inch. The VCM actuator used in the conventional disk drives has hundreds of flexible resonances at high frequencies, which limit the increase of bandwidth and hence the positioning accuracy. In...
This paper presents an approach to integrate structural and control parameters optimization for an active vibration isolation system based on the elitist strategy genetic algorithm. This method, which takes the total weighted root mean square of the acceleration of isolation platform, the dynamic deflection of isolation system and the dynamic displacement of the base as optimization performance indicators,...
High aerial density is needed for improving the capacity in Hard Disk Drive (HDD). In order to achieve this task, tracking performance and robustness of HDD servo system need to be improved. H?? robust controller is one of the most popular techniques for the mentioned problem; however, order of this controller is usually higher than that of the plant, making it difficult to implement practically....
Computational intelligence competitions have recently gained a lot of interest. These contests motivate and encourage researchers to participate on them, and to apply their work areas to specific games. During the last two years, one of the most popular competitions held on computational intelligence in games conferences is the car racing competition. This competition combines the fun of driving to...
In this paper, a method of automatic controller design for electronic control systems is described. In order to automate the design of an electronic controller, an evolutionary computation is applied. First, the framework for applying the genetic algorithm to the automation of controller design is described. In particular, the coding of a chromosome is shown in detail. Then, how to make a fitness...
The goal of this work is the development and performance analysis of control algorithms for new soft fluidic actuators with rotary elastic chambers (REC-actuators). Due to their inherent compliancy these actuators fulfill the requisites for building intrinsically safe mechanisms as assistance robots and motion therapy devices, working in direct physical contact with humans. Besides the difficulties...
A robust feedback stabilization control law for a 3-degrees-of-freedom underactuated surface vessel with actuator saturation, lateral drift and environmental disturbances is proposed. With the aid of Lyapunov redesign and high gain feedback techniques, the system under disturbances displays the robust characteristics. And an optimized method based on genetic algorithm (GA) is presented to solve the...
Due to the extensive utilization in engineering designs, various vibration controller designs have been investigated to meet the design specifications. However, not all of them exactly meet the design requirements. In this paper, mechatronic design quotient (MDQ) approach and genetic algorithm are coupled together to perform this evaluation and optimization task. MDQ is presented to formulate an evaluation...
Ionic polymer-metal composites (IPMCs) have advantages of softness and flexibility to be used in biomedical applications. In this paper a fuzzy logic controller (FLC) has been designed for achieving the goal of tracking. Also co- evolutionary-based genetic algorithms technique has been employed to optimize membership functions and fuzzy rules. The simulation results show that fuzzy controller has...
The inverse and forward kinematics modeling of a three wheeled mobile robot (TWMR) is investigated. Assuming no track-wheel slippage, the TWMR has two degrees of freedom and needs only two driving actuators/motors. The robot is modeled (inverse kinematics) and the governing equations to track a desired path are derived. To verify the results, the TWMR is modeled in forward kinematics using simulation...
Electroactive polymers undergo physical deformation to external voltage stimuli. These electrically activated polymers possess extraordinary features making them capable as lightweight sensors and actuators in manifold applications. The characteristics of applied voltage and environmental conditions, especially the moisture content surrounding the polymer, have a combined influence on the dynamical...
The machine stand vibrates at each operation of actuators and this vibration possibly affects a positioning control, that is, the settling time of the positioning control is prolonged. In order to solve the problem, we present a feedforward controller design method for a system including not only a machine but also a machine stand. Moreover, the model for this system is proposed and identified by...
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