PUMA 560 Trajectory Control Using NSGA-II Technique With Real Valued   Operators
  In the industry, Multi-objectives problems are a big defy and they are also hard to be conquered by conventional methods. For this reason, heuristic algorithms become an executable choice when facing this kind of problems.The main objective of this work is to investigate the use of the Non-dominated Sorting Genetic Algorithm II (NSGA-II) technique using the real valued recombination and the real valued mutation in the tuning of the computed torque controller gains of a PUMA560 arm manipulator. The NSGA-II algorithm with real valued operators searches for the controller gains so that the six Integral of the Absolute Errors (IAE) in joint space are minimized. The implemented model under MATLAB allows an optimization of the Proportional-Derivative computed torque controller parameters while the cost functions and time are simultaneously minimized.. Moreover, experimental results also show that the real valued recombination and the real valued mutation operators can improve the performance of NSGA-II effectively. 
Habiba Benzater and Samira Chouraqui
math.OC