1. Robot control based on genetic algorithm and servo tracking optimal controller
- Author
-
Wang Wei-hong, Yan Shenao, Wu Sentang, and Guo Ying
- Subjects
Computer Science::Robotics ,Optimization problem ,Computer science ,Linearization ,Control theory ,Computation ,Servo control ,Robot ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,Optimal control ,Servo ,Robot control - Abstract
Through the analysis of the force and moment of the robot, the kinetic equation of the robot is obtained, and the linearization model of the system can be obtained by linearization of small perturbation. According to the principle of servo tracking optimal control, the expression of servo controller optimal controller is deduced. Then the principle of basic genetic algorithm and genetic operation are introduced. Finally, the genetic algorithm is applied to the optimization problem of the optimal controller parameters of the servo tracking, which reduces the blindness of the initial optimization and saves the computation time.
- Published
- 2017