Computed-Torque-Plus-Compensation-Plus-Chattering Controller of Robot Manipulators

Abstract

Will-be-set-by-IN-TECH procedures in topology optimisation appears in different ways, either through simultaneous multiscale optimisation, or taking the influence of one of the scales and optimising the other.In this sense, this chapter shows the four main approaches to the integration of AEH in topology optimisation procedures: structure optimisation for a given composite microstructure; microstructure optimisation for a given structure; simultaneous optimisation of both scales (hierarchical approach); and material design.The problems are solved on a multiload multiobjective thermoelastic in-house developed computational platform.The authors thus show the use of AEH procedures and equations both to evaluate homogenised composite materials and to find the ideal material distribution for a given problem.This chapter aims to provide a review of some of the main aspects of these methods and to present some illustrative examples.