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On-line version ISSN 1870-9044

Polibits  n.47 México Jan./Jul. 2013


Differential Evolution for the Control Gain's Optimal Tuning of a Four-bar Mechanism


María Bárbara Calva-Yáñez1, Paola Andrea Niño-Suárez2, Miguel Gabriel Villarreal-Cervantes1, Gabriel Sepúlveda-Cervantes1, and Edgar Alfredo Portilla-Flores1


1 Instituto Politécnico Nacional, CIDETEC, Mechatromc Section, Postgraduate Department, Juan de Otos Bátiz s/n, CP 07700 D.F., Mexico (e-mail:;,,

2 Instituto Politécnico Nacional, ESIME-AZC, SEPI Section, Las Granjas 682, C.P. 02250 D.F., Mexico (e-mail:


Manuscript received on February 25, 2013.
Accepted for publication on May 23, 2013.



In this paper the variation of the velocity error of a four-bar mechanism with spring and damping forces is reduced by solving a dynamic optimization problem using a differential evolution algorithm with a constraint handling mechanism. The optimal design of the velocity control for the mechanism is formulated as a dynamic optimization problem. Moreover, in order to compare the results of the differential evolution algorithm, a simulation experiment of the proposed control strategy was carried out. The simulation results and discussion are presented in order to evaluate the performance of both approaches in the control of the mechanism.

Key words: Velocity control, differential evolution algorithm, four-bar mechanism, dynamic optimization.





The first author acknowledges support from CONACYT through a scholarship to pursue graduate studies at Instituto Politécnico Nacional. Authors acknowledge support from CONACyT through grant No. 182298 and support from COFAA and SIP of the Intituto Politécnico Nacional through grant No. 20131053 and 20131350.



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