Active vibration control using genetic algorithm-based system identification and positive position feedback

A system identification and vibration control strategy for a flexible manipulator with a collocated piezoelectric sensor/actuator pair is presented in this paper. An iteratively implemented genetic algorithm is applied to the system identification problem of the flexible manipulator. A control law based upon positive position feedback is developed for vibration suppression. A minimization criterion based on the H∞-norm of the closed loop system is solved by a genetic algorithm to derive optimal controller parameters. Numerical simulations are performed to verify the effectiveness of the system identification and vibration controller. (paper)