中文摘要：

对于存在参数区间摄动的机械臂，提出了一种利用遗传算法进行鲁棒控制器演化设计的方法，将具有给定结构的控制器的参数编码后作为控制器种群，将机械臂的摄动参数编码后作为受控对象种群；对两个种群进行双向演化操作，得到对区间摄动系统具有足够鲁棒性的控制器和最差控制性能所对应的受控对象模型，对存在参数摄动的二自由度机械臂进行鲁棒控制器设计的结果表明，所提出的方法是有效的．

英文摘要：

For manipulators with interval uncertain parameters, evolving design methods of robust eontroners are proposed based on the genetic algorithm. The encoded parameters of the controller with a given structure are taken as the controller populatilon, and the encoded uncertain parameters of the plant as the plant population. A co-evolution operation is performed on the two populations to obtain a controller with sufficient robustness against the plant interval uncertainties and a plant model .that achieves the worst control properties. Results of applications to robust controller design for a two-degree-of-freedom manipulator with parameter uncertainties demonstrate the efficiency of the proposed method.