A dynamic optimization approach to adaptive control for the four-bar linkage mechanism

Abstract

In this work, a control strategy for the speed regulation of the four-bar linkage mechanism is presented. This strategy is based on the dynamic optimization approach to adaptive control. In this approach, a dynamic optimization problem is stated and solved on-line using an optimizer to find the best set of control parameters. A novel variant of the Differential Evolution optimizer with an optimum tracking mechanism which allows to maintain the diversity of solutions is proposed in order to handle the changing best solution of the dynamic optimization problem. A full statistical analysis is used to prove the effectiveness of the proposed strategy. The performance of this strategy is tested in simulation and is compared with a PI controller.